Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under uncertainty difficu ...
Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...
Developing autonomous robots capable of learning complex motions from demonstrations remains a fundamental challenge in robotics. On the one hand, movement primitives (MP) provide a compact and modular representation of continuous trajectories. On the othe ...
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the reference target positio ...
Many real-world sequential manipulation tasks involve a combination of discrete symbolic search and continuous motion planning, collectively known as combined task and motion planning (TAMP). However, prevailing methods often struggle with the computationa ...
In this article, we present a feedback control method for tactile coverage tasks such as cleaning or surface inspection. Although these tasks are challenging to plan due to the complexity of continuous physical interactions, the coverage target and progres ...
Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for long-horizon manipulation ...
Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control. A promising strategy is to develop policies that are robust across a wide r ...
In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and is a well established framework for the simplified definition of tasks using ...
Virtual Fixtures (VFs) provide haptic feedback for teleoperation, typically requiring distinct input modalities for different phases of a task. This often results in vision- and position-based fixtures. Vision-based fixtures, particularly, require the hand ...
