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Bimanual dynamic grabbing and tossing of objects onto a moving target

Related publications (33)

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A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

MIT PRESS2019

From human-intention recognition to compliant control using dynamical systems in physical human-robot interaction

Mahdi Khoramshahi

Human ability to coordinate one's actions with other individuals to perform a task together is fascinating. For example, we coordinate our action with others when we carry a heavy object or when we construct a piece of furniture. Capabilities such as (1) f ...

EPFL2019

Mori: A Modular Origami Robot

Jamie Paik, Christoph Heinrich Belke

This paper proposes a new robotic platform based on origami robots and reconfigurable modular robots. The concept combines the advantages of both robot types into a mobile, quasi-two-dimensional, lattice-type reconfigurable modular origami robot, Mori. A d ...

Institute of Electrical and Electronics Engineers2017

A Dynamical System Approach for Catching Softly a Flying Object: Theory and Experiment

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian

Catching a fast flying object is particularly challenging as consists of two tasks: it requires extremely precise estimation of the object’s motion and control of the robot motion. Any small imprecision may lead the fingers to close too abruptly and let th ...

Institute of Electrical and Electronics Engineers2016

Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Rodrigo Martins de Matos Ventura

Relative positioning systems play a vital role in current multi-robot systems. We present a self-contained detection and tracking approach, where a robot estimates a distance (range) and an angle (bearing) to another robot using measurements extracted from ...

Springer2015

This paper studies existing direct transcription methods for trajectory optimization for robot motion planning. These methods have demonstrated to be favorable for planning dynamically feasible motions for high dimensional robots with complex dynamics. How ...

2015

Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help i ...

Springer2015

Autonomous Construction of Separated Artifacts by Mobile Robots Using SLAM and Stigmergy

Francesco Mondada, Hadi Ardiny, Stefan John Witwicki

Autonomous mobile robots equipped with arms have the potential to be used for automated construction of structures in various sizes and shapes, such as houses or other infrastructures. Existing construction processes, like many other additive manufacturing ...

2015

Catching Objects in Flight

Aude Billard, Ashwini Shukla, Seungsu Kim

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

Institute of Electrical and Electronics Engineers2014

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two d ...

2014