相关论文: Soft and Compliant Contact-Rich Hair Manipulation …
Hair care is an essential daily activity, yet it remains inaccessible to individuals with limited mobility and challenging for autonomous robot systems due to the fine-grained physical structure and complex dynamics of hair. In this work,…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Soft robotic actuators can simplify the design of controllers when operating in contact-rich environments. Importantly, their passive compliance fundamentally alters contact mechanics by smoothing impacts and distributing forces over large…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…
Imitation learning has achieved remarkable success in robotic manipulation, yet its application to surgical robotics remains challenging due to data scarcity, constrained workspaces, and the need for an exceptional level of safety and…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a difficult task that negatively impacts personal routines. We…
Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Soft robots, with their inherent passive compliance, are…
The ability of robots to handle multiple tasks under a unified policy is critical for deploying embodied intelligence in real-world household and industrial applications. However, out-of-distribution variation across tasks often causes…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability, we introduce Tactile Memory with Soft Robot (TaMeSo-bot), a…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…