6 accepted papers
Robotic grasping of a target object in cluttered environments poses considerable challenges, often due to limited collision-free grasp affordances caused by the close proximity of other objects. To overcome this limitation, non-prehensile actions like pushing can be strategically employed to manipul…
In this work a control scheme is proposed to enforce dynamic obstacle avoidance constraints to the full body of actively compliant robots. We argue that both compliance and accuracy are necessary to build safe collaborative robotic systems; obstacle avoidance is usually not enough, due to the relian…
Robotic grasping in highly cluttered environments remains a challenging task due to the lack of collision free grasp affordances. In such conditions, non-prehensile actions could help to increase such affordances. We propose a multi-fingered push-grasping policy that creates enough space for the fin
Trajectory tracking in the orientation space utilizing unit quaternions yields non linear error dynamics as opposed to Cartesian position. In this work, we study trajectory tracking in the orientation space utilizing the most popular quaternion error representations and angular velocity errors. By s…
In this work, we propose an augmentation to the Dynamic Movement Primitives (DMP) framework which allows the system to generalize to moving goals without the use of any known or approximation model for estimating the goal's motion. We aim to maintain the demonstrated velocity levels during the execu…
Dynamic movement primitives (DMP) are an efficient way for learning and reproducing complex robot behaviors. A singularity free DMP formulation for orientation in the Cartesian space is proposed by Ude et al. [1] and has been largely adopted by the research community. In this work, we demonstrate th