Related papers: Object Manipulation of the Variable Topology Truss…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…
Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling tool-environment interaction is difficult, especially when…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an…
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…
Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a…
Much research in the last two decades has focused on Virtual Topology Reconfiguration (VTR) problem. However, most of the proposed methods either has low controllability, or the analysis of a control parameter is limited to empirical…