10 accepted papers
Autonomous execution of long-horizon, contact-rich manipulation tasks traditionally requires extensive real-world data and expert engineering, posing significant cost and scalability challenges. This paper proposes a novel framework integrating hierarchical semantic decomposition, reinforcement lear
In the field of robotic manipulation, traditional methods lack the flexibility required to meet the demands of diverse applications. Consequently, researchers have increasingly focused on developing more general techniques, particularly for long-horizon and gentle manipulation, to enhance the manipu
Quadruped manipulators require precise detection of external forces to perform a series of force-related tasks during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. Conventional momentum based observer
In the field of dexterous robotic manipulation, integrating visual and tactile modalities to inform manipulation policies presents significant challenges, especially in non-contact scenarios where reliance on tactile perception can be inadequate. Visual affordance techniques currently offer effectiv
Quadruped manipulators require precise detection of external impact forces to ensure safe and compliant responses during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. This study introduces a whole-body
An increasing number of robotic manipulation tasks now use optical tactile sensors to provide tactile feedback, making tactile servo control a crucial aspect of robotic operations. This paper presents a rapid tactile transfer framework (RTTF) that achieves optical-tactile image sim2real transfer and…
In normal operations, when quadruped manipulators with impedance control experience external disturbances, they may become unstable and lose balance due to actuation saturation, affecting their stability, safety, and compliance with the environment. To address this issue, we propose a whole-body com…
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped manipulator to track the motion of a dynamic object moving with un…
In complex urban environments, the Inertial Navigation System (INS) is important for navigating unmanned ground vehicles (UAVs) for its environment-independency and reliability of real-time localization. It is usually employed as the baseline in the case of other sensors failures, such as the GPS, L…
Magneto-rheological clutches (MRCs) are potential for providing jointed robots with the capability of behaving compliantly. However, due to the nonlinear dynamics of rate-dependent hysteresis exhibited by the MRC, precisely controlling its behaviors is still cumbersome. This paper firstly proposes a