相关论文: koboshi: A Base That Animates Everyday Objects
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objects. MOSAIC employs modularity at several levels: it…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Developable surfaces are commonly observed in various applications such as architecture, product design, manufacturing, mechanical materials, and data physicalization as well as in the development of tangible interaction and deformable…
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…
This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable…
We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion capability on aerial vehicles so that they can carry heavy…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Creating robots with emotional personalities will transform the usability of robots in the real world. As previous emotive social robots are mostly based on statically stable robots whose mobility is limited, this paper develops an…
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This,…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Shape-changing interfaces are promising for users to change the physical properties of common objects. However, prevailing approaches of actuation devices require either professional equipment or materials that are not commonly accessible…
Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…
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…
Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…