相关论文: Learning Object Manipulation With Under-Actuated I…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. Within this paper, we present methods that…
Generalizing robotic manipulation across object poses, viewpoints, and dynamic disturbances is difficult, especially with only a few demonstrations. End-to-end visuomotor policies are expressive but data-hungry, while planning and…
Here we present a technique for using machine learning (ML) for single-qubit gate synthesis on field programmable logic for a superconducting transmon-based quantum computer based on simulated studies. Our approach is multi-stage. We first…
Quantum optimal control is a promising approach to improve the accuracy of quantum gates, but it relies on complex algorithms to determine the best control settings. CPU or GPU-based approaches often have delays that are too long to be…
Conventional machine learning (ML) relies heavily on manual design from machine learning experts to decide learning tasks, data, models, optimization algorithms, and evaluation metrics, which is labor-intensive, time-consuming, and cannot…
Humanoid soccer dribbling is a highly challenging task that demands dexterous ball manipulation while maintaining dynamic balance. Traditional rule-based methods often struggle to achieve accurate ball control due to their reliance on fixed…
Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their…
This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…
The choice of a figure 8 shape for the booster and collider rings of MEIC opens wide possibilities for preservation of the ion polarization during beam acceleration as well as for control of the polarization at the collider's interaction…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
We use Machine Learning (ML) and system identification validation approaches to estimate neural network models of large-scale Deformable Mirrors (DMs) used in Adaptive Optics (AO) systems. To obtain the training, validation, and test data…
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
Flexible Electronics (FE) technology offers uniquecharacteristics in electronic manufacturing, providing ultra-low-cost, lightweight, and environmentally-friendly alternatives totraditional rigid electronics. These characteristics enable a…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
Stem cell therapy is a promising approach to treat heart insufficiency and benefits from automated myocardial injection which requires highly precise motion of a robotic manipulator that is equipped with a syringe. This work investigates…