7 accepted papers
Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery behaviors that enable normal task execution to resume. In this work…
The integration of large language models (LLMs) into robotic task planning has unlocked better reasoning capabilities for complex, long-horizon workflows. However, ensuring safety in LLM-driven plans remains a critical challenge, as these models often prioritize task completion over risk mitigation.
This work focuses on the capability of Mobile Manipulators to effectively control and maneuver cart-like non-holonomic systems. These cart-like systems are passive-wheeled objects with nonholonomic constraints with varying inertial parameters. We derive the dynamic equations of the cart-like system…
To enable a mobile manipulator to effectively maneuver a cart, we derive a dynamic model for the cart that incorporates the nonholonomic constraints on its motion, and use this model to formulate an estimator for the cart's inertial parameters. By deriving the dynamic equations of the cart using a c…
Increasingly, robots are working in close proximity with humans, and in dynamically changing environments. We present a new control architecture that guarantees safety under such conditions, while simultaneously ensuring that task goals are satisfied. Our approach combines Control Barrier Functions
In this paper, we study the problem of dynamic interaction between a robot and an unknown object (e.g., catching a ball, or handing off an object during locomotion). In particular, we propose a method for estimating the inertial parameters of an object during dynamic interaction, while minimally alt…
This paper presents a real-time safety and control for robot manipulators using control barrier functions and control Lyapunov functions in operational space. We first define the operational space in terms of system dynamics, jacobian, and torques and then ensure safety by designing Control Barrier…