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One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…

In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…

Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…

Robotic manipulation of rigid objects via deformable linear objects (DLO) such as ropes is an emerging field of research with applications in various rigid object transportation tasks. A few methods that exist in this field suffer from…

Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…

Mimicking the perceptual functions of human cutaneous mechanoreceptors, artificial skins or flexible pressure sensors can transduce tactile stimuli to quantitative electrical signals. Conventional methods to design such devices follow a…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…

We compare two representations used to define the morphology of legs for a hexapod robot, which are subsequently 3D printed. A leg morphology occupies a set of voxels in a voxel grid. One method, a direct representation, uses a collection…

We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion to model the objects…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…

In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…

The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…

The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…