相关论文: Contact Tooling Manipulation Control for Robotic R…

In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…

In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…

Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…

In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…

Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…

Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a…

This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…

In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…

Contact-rich tasks present significant challenges for robotic manipulation policies due to the complex dynamics of contact and the need for precise control. Vision-based policies often struggle with the skill required for such tasks, as…

ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…