7 accepted papers
This study presents dynamic scoop-and-flick manipulation, a robotic technique that achieves desired projectile motions of target objects through rapid, non-prehensile physical interactions. The method allows a robot to scoop objects resting on a surface and quickly launch them into projectile trajec…
This study focuses on the robotic capability of ungrasping, or releasing, an object in a grasp from the gripper to the robot's environment. The presented technique enables the delicate release of a grasped object using non-static contacts, allowing for rolling and/or sliding. This dexterous manipula
This study investigates the dynamic self-righting behavior of planar-based rigid objects supported at two contact points under the influence of gravity. The underlying mechanism of self-righting is elucidated through a six-dimensional curvature analysis in the configuration space. In addition, we di
Large language models (LLMs) represent a significant advancement in integrating physical robots with AI-driven systems. In this research, we present a framework that leverages Robotics Decision-Making Models (RDMM) for decision-making in domain-specific contexts, enhancing robotic autonomy. This fra
Robotics collaborative drawing involves the inter-action between humans and robots to create of visual art using a variety of tools and materials, serving various functions such as communication, narration, and emotional representation. A creative technique within the human natural drawing process i…
Common design principles for low cost humanoid robots include a low center of mass height and a large support area for increased static stability. However, such principles limit the bipedal mobility of the robot due to the kinematic constraints involved. In this paper, we present an efficient locomo…
Motion planning for high degree of freedom (DOF) robots is not an easy task, and often requires optimization in a high dimensional space. Still, a generic motion planner using a single cost function for optimization may not be optimal over a number of different tasks with various task specific const