相关论文: Learning Granular Media Avalanche Behavior for Ind…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…

In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation.…

Predictive models can be particularly helpful for robots to effectively manipulate terrains in construction sites and extraterrestrial surfaces. However, terrain state representations become extremely high-dimensional especially to capture…

This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…

As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…

Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Legged locomotion on flowing ground ({\em e.g.} granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bio-inspired legged robots display speed…

The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces…

We investigate the sliding of objects on an inclined granular surface close to the avalanche threshold. Our experiments show that the stability is driven by the surface deformations. Heavy objects generate footprint-like deformations which…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…

Characterizing forces on deformable objects intruding into sand and soil requires understanding the solid and fluid-like responses of such substrates and their effect on the state of the object. The most detailed studies of intrusion in dry…

Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…