相关论文: Intersection-free Robot Manipulation with Soft-Rig…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this…
Compliant motions allow alignment of workpieces using naturally occurring interaction forces. However, free-floating objects do not have a fixed base to absorb the reaction forces caused by the interactions. Consequently, if the interaction…
Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
In this paper, we present a model-free learning-based control scheme for the soft snake robot to improve its contact-aware locomotion performance in a cluttered environment. The control scheme includes two cooperative controllers: A…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
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…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…