相关论文: Prioritized Kinematic Control of Joint-Constrained…
Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological maps enable long-horizon navigation without dense geometric…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
Image-based visual servoing (IBVS) is a widely-used approach in robotics that employs visual information to guide robots towards desired positions. However, occlusions in this approach can lead to visual servoing failure and degrade the…
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…
Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…
Vision-based deep learning perception fulfills a paramount role in robotics, facilitating solutions to many challenging scenarios, such as acrobatic maneuvers of autonomous unmanned aerial vehicles (UAVs) and robot-assisted high-precision…
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…
Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing…
Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated balance, contact, and manipulation can emerge naturally…
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual representations in a view-specific manner, leading to…