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09/13/2023
Real-Time Motion Planning for In-Hand Manipulation with a Multi-Fingered Hand
Dexterous manipulation of objects once held in hand remains a challenge....
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06/28/2023
Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics
Controlling complex tasks in robotic systems, such as circular motion fo...
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03/03/2023
Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dex...
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10/26/2022
From Obstacle Avoidance To Motion Learning Using Local Rotation of Dynamical Systems
In robotics motion is often described from an external perspective, i.e....
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10/14/2022
User-specific, Adaptable Safety Controllers Facilitate User Adoption in Human-Robot Collaboration
As assistive and collaborative robots become more ubiquitous in the real...
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08/03/2022
Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics
Autonomous navigation in highly populated areas remains a challenging ta...
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07/18/2022
Learning High Dimensional Demonstrations Using Laplacian Eigenmaps
This article proposes a novel methodology to learn a stable robot contro...
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05/10/2022
Fast Obstacle Avoidance Based on Real-Time Sensing
Humans are remarkable at navigating and moving through dynamic and compl...
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03/02/2022
Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation
Large efforts have focused on ensuring that the controllers for mobile s...
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02/18/2022
Linearization and Identification of Multiple-Attractors Dynamical System through Laplacian Eigenmaps
Dynamical Systems (DS) are fundamental to the modeling and understanding...
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10/09/2021
Multimodal Sensory Learning for Real-time, Adaptive Manipulation
Adaptive control for real-time manipulation requires quick estimation an...
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10/09/2021
Credit Assignment Safety Learning from Human Demonstrations
A critical need in assistive robotics, such as assistive wheelchairs for...
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05/25/2021
Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds
This paper presents a closed-form approach to constrain a flow within a ...
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04/29/2021
Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd
The evaluation of robot capabilities to navigate human crowds is essenti...
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09/11/2019
Four-Arm Manipulation via Feet Interfaces
We seek to augment human manipulation by enabling humans to control two ...
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04/29/2015