7 accepted papers
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid slip, we \emph{embrace slip} to allow the object to rotate in-ha…
Occlusions caused by a robot’s own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired goal pose. The approach allows coordinated control between
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omnidirectional target with multiple, homogeneous agents that are subject to unicycle kinematic constraints. We use shared experience to train a policy for a given
We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is opened after the object makes contact with the surface, the obje
We present an approach for safe, and object-independent human-to-robot handovers using real time robotic vision, and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm, and by using a single gripper-mounted RGB-D camera, hence not relying
We present a robotic system capable of navigating autonomously by following a line and taking good quality pictures of people. When a group of people is detected, the robot rotates towards them and then back to line while continuously taking pictures from different angles. Each picture is processed…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support interaction by reducing future interference with others as supportiv…