3 accepted papers
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact inter-actions, and uncertainties in state estimation. Sampling-based model predictive control (MPC), using a physics simulator as the d
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 are interested in the problem where a number of robots, in parallel, are trying to solve reaching through clutter problems in a simulated warehouse setting. In such a setting, we investigate the performance increase that can be achieved by using a human-in-the-loop providing guidance to robot pla