相关论文: Wallbounce : Push wall to navigate with Contact-Im…

Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…

In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…

In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced…

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…

Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…

Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and…

Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…

We present an architecture for integrating real-time, multimodal input into a computational agent's contextual model. Using a human-avatar interaction in a virtual world, we treat aligned gesture and speech as an ensemble where content may…

Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rotating the handle, widening the gap, holding the door,…

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…

Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whole-body control unreliable, especially in close-contact…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…

Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy 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…