Interactive identification of the center of mass reachable space for an articulated manipulator
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In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...
One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...
Grasping a particular object may require a dedicated grasping movement that may also be specific to the robot end-effector. No generic and autonomous method does exist to generate these movements without making hypotheses on the robot or on the object. Lea ...
Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...
This research investigates the robotic assembly of timber structures connected by wood–wood connections. As the digitization of the timber construction sector progresses, digital tools, such as industrial robotic arms and Computer Numerical Control machine ...
The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning per ...
This paper describes a novel approach to learn an implicit, differentiable distance function for arbitrary configurations of a robotic manipulator used for reactive control. By exploiting GPU processing, we efficiently query the learned collision represent ...
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...