Related papers: PhyPush: One Push is All You Need for Sensorless P…
Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in…
Pushing is a fundamental robotic skill. Existing work has shown how to exploit models of pushing to achieve a variety of tasks, including grasping under uncertainty, in-hand manipulation and clearing clutter. Such models, however, are…
As the availability of cobots increases, it is essential to address the needs of users with little to no programming knowledge to operate such systems efficiently. Programming concepts often use intuitive interaction modalities, such as…
Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…
Interactive world models that simulate object dynamics are crucial for robotics, VR, and AR. However, it remains a significant challenge to learn physics-consistent dynamics models from limited real-world video data, especially for…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Grasping the same object in different postures is often necessary, especially when handling tools or stacked items. Due to unknown object properties and changes in grasping posture, the required grasping force is uncertain and variable.…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
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…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
This paper introduces a novel physics-informed impact identification (Phy-ID) framework. The proposed method integrates observational, inductive, and learning biases to combine physical knowledge with data-driven inference in a unified…
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and their dynamic interaction with rigid bodies remains…
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…
Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…