相关论文: YOR: Your Own Mobile Manipulator for Generalizable…
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…
With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…
Humanoid robotics is a promising field because the strong human preference to interact with anthropomorphic interfaces. Despite this, humanoid robots are far from reaching main stream adoption and the features available in such robots seem…
Mobile manipulation is a fundamental capability that enables robots to interact in expansive environments such as homes and factories. Most existing approaches follow a two-stage paradigm, where the robot first navigates to a docking point…
This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability,…
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…
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…
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challenging due to the need to interact with diverse objects and…
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…
We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effector that grows via tip eversion, gesture-based control, and…
Underwater robotics is becoming increasingly important for marine science, environmental monitoring, and subsea industrial operations, yet the development of underwater manipulation and actuation systems remains restricted by high costs,…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…