相关论文: Intersection-free Robot Manipulation with Soft-Rig…

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…

Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Training reinforcement learning (RL) policies for legged locomotion often requires extensive environment interactions, which are costly and time-consuming. We propose Symmetry-Guided Memory Augmentation (SGMA), a framework that improves…

Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…

Soft electronic skins are one of the means to turn an industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboration, soft skins can make them safer. In this work, we study…

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…

This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in…

Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…

Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…

Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…

Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…

Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…