相关论文: Loop Shaping of Hybrid Motion Control with Contact…

This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…

Motion style transfer changes the style of a motion while retaining its content and is useful in computer animations and games. Contact is an essential component of motion style transfer that should be controlled explicitly in order to…

Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…

The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…

Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…