5 accepted papers
We introduce a planner designed to guide robot manipulators in stably placing objects within complex scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then determines a placement pose that solicits the selected points. Thi…
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial parameters rely on motions that are necessarily fast and unsafe…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their flexibility and enable greater usage in manufacturing and other area…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have yet to be widely deployed in industrial robotics settings; par…
The ocean is a harsh and unstructured environment for robotic systems; high ambient pressures, saltwater corrosion and low-light conditions demand machines with robust electrical and mechanical parts that are able to sense and respond to the environment. Prior work shows that the addition of gentle…