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In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…
High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurations to execute the given task without extensive parameter…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Automation of hydraulic material handling machinery is currently limited to semi-static pick-and-place cycles. Dynamic throwing motions which utilize the passive joints, can greatly improve time efficiency as well as increase the dumping…
Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…
Advancing quantum technologies requires precise and robust coherent control of quantum systems. Robust higher-order Hamiltonian engineering is essential for high-precision control and for accessing effective dynamics absent at zeroth order.…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…
This article presents an entirely data-driven approach for autonomous control of redundant manipulators with hydraulic actuation. The approach only requires minimal system information, which is inherited from a simulation model. The…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
This paper presents an extremum seeking control algorithm with an adaptive step-size that adjusts the aggressiveness of the controller based on the quality of the gradient estimate. The adaptive step-size ensures that the integral-action…
High-speed turbulent flows are encountered in most space-related applications (including exploration, tourism and defense fields) and represent a subject of growing interest in the last decades. A major challenge in performing high-fidelity…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Prompt routing dynamically selects the most appropriate large language model from a pool of candidates for each query, optimizing performance while managing costs. As model pools scale to include dozens of frontier models with narrow…
Obtaining high-precision guaranteed lower eigenvalue bounds remains difficult, even though the standard high-order conforming finite element (FEM) easily yields extremely sharp upper bounds. Recently developed rigorous approaches using such…