相关论文: Casting Robotic End-effectors To Reach Faraway Mov…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Manipulating deformable and fragile objects remains a fundamental challenge in robotics due to complex contact dynamics and strict requirements on object integrity. Existing approaches typically optimize either end-effector design or…

A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…

This study addresses a task designed to predict the future success or failure of open-vocabulary object manipulation. In this task, the model is required to make predictions based on natural language instructions, egocentric view images…

There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…

We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…

Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…

When we physically interact with our environment using our hands, we touch objects and force them to move: contact and motion are defining properties of manipulation. In this paper, we present an active, bottom-up method for the detection…

With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…

Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…

Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

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…

Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…