7 accepted papers
Accurate 3D shape estimation of deformable linear objects (DLOs) from sensory data is a critical prerequisite for downstream manipulation tasks like shape control. However, real-world scenarios often contain unstructured environments and yield noisy, partial observations, posing significant challeng
Manipulating elasto-plastic object remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a quasi-static assumption for motions, leveraging 3D occupancy t…
Motion control of magnetic microswarms has attracted extensive attention due to its significance in microrobots-based biomedical applications such as targeted drug delivery. However, such reconfigurable microswarms are subject to complex interactions between individuals and environments which make a
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a quasi-static assumption for motions, leveraging 3D occupancy
Deformable linear object (DLO) manipulation in constrained environments with obstacles has received limited investigations due to DLO's complex intrinsic deformation. In this study, we focus on addressing constrained DLO manipulation problems, especially in the context of avoiding cluttered environm
Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving safe landing as the cats has been increasingly investigated.…
In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PAN–1)1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent first-order n…