Research
Research
Research
Research
23+ open-access research outputs.
This paper presents PISHYAR, a socially intelligent smart cane designed by our group to combine socially aware navigation with multimodal human-AI interaction to support both physical mobility and int…
We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints underlying this domain …
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the l…
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especiall…
Long-term non-prehensile planar manipulation is a challenging task for planning and control, requiring determination of both continuous and discrete contact configurations, such as contact points and …
Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can synthesize dynamic …
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and …
We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoiding collisions in a…
Electric Vertical Takeoff and Landing (eVTOL) vehicles will open new opportunities in aviation. This paper describes the design and wind tunnel analysis of an eVTOL uncrewed aircraft system (UAS) prot…
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main dif…
A robotic feeding system must be able to acquire a variety of foods. Prior bite acquisition works consider single-arm spoon scooping or fork skewering, which do not generalize to foods with complex ge…
Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels. Previous methods typically either focus on short-horizon tasks…
Deep reinforcement learning with domain randomization learns a control policy in various simulations with randomized physical and sensor model parameters to become transferable to the real world in a …
Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We a…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location o…
This paper is concerned with learning transferable forward models for push manipulation that can be applying to novel contexts and how to improve the quality of prediction when critical information is…
This paper demonstrates the benefits of imposing stability on data-driven Koopman operators. The data-driven identification of stable Koopman operators (DISKO) is implemented using an algorithm \cite{…
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object usi…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the r…
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