10 accepted papers
Reactive motion generation in unstructured environments remains an open challenge in robotics. Due to the computational complexity of collision-free motion generation, existing methods either generate global trajectories for static scenarios, or employ models that make conservative assumptions about
Reactive intelligence remains one of the cornerstones of versatile robotics operating in cluttered, dynamic, and human-centred environments. Among reactive approaches, potential fields (PF) continue to be widely adopted due to their simplicity and real-time applicability. However, existing PF method
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly when dealing with external forces and complex motion constra
This paper introduces a novel framework for improving human-to-robot manipulability transfer and tracking in Learning by Demonstration. Our approach addresses key challenges, including manipulability ellipsoid (ME) domain adaptation between different kinematic structures, ME-IK feasibility checks an
This paper is about generating motion plans for high degree-of-freedom systems that account for both static and dynamic collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle
The ability of a manipulator to compute a geometry-aware quality index for general tasks with different joint configurations is essential. Such workspace assessment is a well-known and studied field in existing robotics literature, often deployed through embodied structures such as voxelized maps. N
The ability of robotic fingers to exert force and exhibit motion is vital for achieving dexterity in manipulation tasks. To evaluate dexterous capabilities in terms of both features, i.e., quantifying finger performance that facilitates task planning and design optimization, we introduce the Fingert
The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics,
The ability to compute a quality index for manipulation tasks, in different configurations, has been widely used in robotics. However, it is poorly explored in human manipulation and physical human-robot collaboration (pHRC). Existing works that evaluate efficiency of human manipulation often focus
We present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling, on an object that the robot is holding. The planner produces an efficient p…