相关论文: Non-Prehensile Manipulation in Clutter with Human-…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the…

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…

Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…

This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…

Learning from demonstration (LfD) provides a fast, intuitive and efficient framework to program robot skills, which has gained growing interest both in research and industrial applications. Most complex manipulation tasks are long-term and…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

In this work, we introduce PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace.…

Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These constraints vary and can be influenced by the object…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…

In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…

The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…

This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…

Inverse design tools such as Topology Optimization (TO) can achieve new levels of improvement for high-performance engineered structures. However, widespread use is hindered by high computational times and a black-box nature that inhibits…

Mobile manipulator throwing is a promising method to increase the flexibility and efficiency of dynamic manipulation in factories. Its major challenge is to efficiently plan a feasible throw under a wide set of task specifications. We show…

Human-in-the-loop (HitL) robot deployment has gained significant attention in both academia and industry as a semi-autonomous paradigm that enables human operators to intervene and adjust robot behaviors at deployment time, improving…