RA-L
Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks
Download Abstract: Overhead manipulation tasks often require collaborations between two operators, which becomes challenging in confined spaces such as in a compartment. Supernumerary Robotic Limb (SuperLimb), as a promising wearable robotic solution, can provide assistance in terms of broader workspace, wider manipulation functionalities and safer working conditions. However, the safety concerns of human-centered SuperLimb interaction …
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Understanding Physical Effects for Effective Tool-use
Download Abstract: We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that reproduces fine-grained, continuous visual and physical effects given observed tool-use events, the essential physical properties contributing to the effects …
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Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator
Download Abstract: Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; eg, models trained with human grasp data would be difficult to transfer to 3-finger grippers. To tackle these deficiencies, we formulate a …
Object Gathering With a Tethered Robot Duo
Download Abstract: We devise a cooperative planning framework to generate optimal trajectories for a robot duo tethered by a flexible net to gather scattered objects spread in a large area. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we formulate an …