8 accepted papers
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be selectively braked or pivoted to modulate contact friction and constr…
This study presents a recursive algorithm for solving the regularised least squares problem for online identification of rigid body dynamic model parameters with emphasis on the physical consistency of estimated inertial parameters. One of the geometric approaches is to use a regulariser that repres…
This letter presents the design and development of an innovative interactive robotic system to enhance audience engagement using character-like personas. Built upon the foundations of persona-driven dialog agents, this work extends the agent's application to the physical realm, employing robots to p
Programming manipulation behaviors can become increasingly difficult with a growing number and complexity of manipulation tasks, particularly in a dynamic and unstructured environment. Recent progress in unsupervised skill discovery algorithms has shown great promise in learning an extensive collect…
Manipulation involves a broad spectrum of skills, e.g., polishing, peeling, flipping, screwing, etc., requiring complex and delicate control over both force and position. This paper aims at designing an optimal haptic interface for providing a robot with direct demonstrations of human's innate intel…
Robotic painting tasks in the real world are often made complicated by the highly complex and stochastic nature of the dynamics that underlie, e.g., physical contact between the painting tool and a canvas, color blendings between painting mediums, and many more. Simulation-based inverse graphics alg…
Notwithstanding the seemingly straightforward nature of the inertial parameter identification problem for multibody systems-the most common formulation is as a linear least-squares estimation problem-existing methods, especially for complex high-dof systems subject to nonpersistent and noisy measure
Existing adaptive robot control laws typically require an engineering choice of a constant adaptation gain matrix, which often involves repeated and time-consuming trial and error. Moreover, physical consistency of the estimated inertial parameters or the uniform positive definiteness of the estimat…