8 accepted papers
Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic dressing assistance, prior works typically assume that garments
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is evident in the realm of cloth manipulation, accurately categor…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is grasp force control, which aims to manipulate objects safely by lim…
Teaching complex manipulation skills, such as folding garments, to a bi-manual robot is a very challenging task, which is often tackled through learning from demon-stration. The few datasets of garment-folding demonstrations available nowadays to the robotics research community have been either gath…
This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without the need to grasp them, the ability to reposition grasped objects in-hand, t…
We present a novel approach for generating sequences of whole-body poses with multi-contacts for humanoid robots, which is inspired by techniques from natural language processing. To this end, we propose a probabilistic n-gram language model learned from observation of human locomotion tasks. Human…
Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this direction considering humanoid locomotion with multi-contact…
This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts herein are focused on finding a unified formulation for all quartically-solvab…