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07/10/2023
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
We propose a control pipeline for SAG (Searching, Approaching, and Grasp...
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05/12/2023
Reactive Landing Controller for Quadruped Robots
Quadruped robots are machines intended for challenging and harsh environ...
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05/11/2023
Control of a Back-Support Exoskeleton to Assist Carrying Activities
Back-support exoskeletons are commonly used in the workplace to reduce l...
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10/14/2022
Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction
The uses of robots are changing from static environments in factories to...
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08/01/2022
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
Quadrupedal manipulators require to be compliant when dealing with exter...
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09/15/2021
Fusing Visuo-Tactile Perception into Kernelized Synergies for Robust Grasping and Fine Manipulation of Non-rigid Objects
Handling non-rigid objects using robot hands necessities a framework tha...
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03/09/2021
Formulating Intuitive Stack-of-Tasks with Visuo-Tactile Perception for Collaborative Human-Robot Fine Manipulation
Enabling robots to work in close proximity with humans necessitates to e...
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12/13/2020
Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation
Humans in contrast to robots are excellent in performing fine manipulati...
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08/26/2020
Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots
Pruning is the art of cutting unwanted and unhealthy plant branches and ...
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07/02/2020
Line Walking and Balancing for Legged Robots with Point Feet
The ability of legged systems to traverse highly-constrained environment...
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03/11/2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Planning whole-body motions while taking into account the terrain condit...
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09/15/2019
A Linearly Constrained Nonparametric Framework for Imitation Learning
In recent years, a myriad of advanced results have been reported in the ...
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07/09/2019
Towards Orientation Learning and Adaptation in Cartesian Space
As a promising branch in robotics, imitation learning emerges as an impo...
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05/23/2019
Hierarchical Reinforcement Learning for Concurrent Discovery of Compound and Composable Policies
A common strategy to deal with the expensive reinforcement learning (RL)...
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04/09/2019
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Most animal and human locomotion behaviors for solving complex tasks inv...
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04/09/2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Traditional motion planning approaches for multi-legged locomotion divid...
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04/07/2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
We present a framework for dynamic quadrupedal locomotion over challengi...
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04/07/2019
On-line and on-board planning and perception for quadrupedal locomotion
We present a legged motion planning approach for quadrupedal locomotion ...
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03/23/2019
V2CNet: A Deep Learning Framework to Translate Videos to Commands for Robotic Manipulation
We propose V2CNet, a new deep learning framework to automatically transl...
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03/05/2019
Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives
During the past few years, probabilistic approaches to imitation learnin...
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11/27/2018
Geometry-aware Manipulability Transfer
Body posture influences human and robots performance in manipulation tas...
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09/25/2018
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks
Legged robots can outperform wheeled machines for most navigation tasks ...
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05/25/2018
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
The quality of the visual feedback can vary significantly on a legged ro...
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03/16/2018
Object Captioning and Retrieval with Natural Language
We address the problem of jointly learning vision and language to unders...
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02/18/2018
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing
Lifting objects, whose mass may produce high wrist torques that exceed t...
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12/19/2017
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes
Motion planning in multi-contact scenarios has recently gathered interes...
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12/07/2017
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
The motivation of our current research is to devise motion planners for ...
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10/01/2017
Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks
We present a new method to translate videos to commands for robotic mani...
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09/21/2017
AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection
We propose AffordanceNet, a new deep learning approach to simultaneously...
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08/22/2017