24 papers · ranked by Valyu relevance
Haoran Sun, Linhan Yang, Yuping Gu, Jia Pan + 3 more
'Chaoyang Song' 'Liang Li'] Locomotion and manipulation are two essential skills in robotics but are often divided or decoupled into two separate problems. It is widely accepted that the topological duality between multi-legged locomotion and multi-fingered manipulation shares an intrinsic model. However, a lack of…
Chenzheng Wang, Qiang Huang, Xuechao Chen, Zeyu Zhang + 4 more
'Pengcheng Liu' 'Qinbing Fu' 'Tiong Hoo Lim'] Loco-manipulation tasks using humanoid robots have great practical value in various scenarios. While reinforcement learning (RL) has become a powerful tool for versatile and robust whole-body humanoid control, visuomotor control in loco-manipulation tasks with RL remains a…
Changyi Lin, Xingyu Liu, Yuxiang Yang, Yaru Niu + 5 more
Loco-Manipulators Authors: ['Changyi Lin' 'Xingyu Liu' 'Yuxiang Yang' 'Yaru Niu' 'Wenhao Yu' 'Tingnan Zhang' 'Jie Tan' 'Byron Boots' 'Zhao Ding'] Abstract—Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's…
Wandong Sun, Luying Feng, Baoshi Cao, Yang Liu + 2 more
—Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body (manipulation) and lower-body (locomotion) policies. While this decomposition reduces…
John Z. Zhang, Maks Sorokin, Jan Brüdigam, Brandon Hung + 13 more
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steering of a pre-trained whole-body control policy with a sample-based planner, we can enable these robots to solve a…
Alberto Rigo, Muqun Hu, Satyandra K. Gupta, Quan Dong Nguyen
— In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving interaction with heavy objects, is far from straightforward, as object…
Binggwong Leung, Stanislav Gorb, Poramate Manoonpong
Dung beetles impressively coordinate their 6 legs to effectively roll large dung balls. They can also roll dung balls varying in the weight on different terrains. The mechanisms underlying how their motor commands are adapted to walk and simultaneously roll balls (multitasking behavior) under different conditions…
Kruthika Gangaraju
Planning in a Slithering Robot Authors: ['Kruthika Gangaraju'] | List of Figures | | | iv | | --- | --- | --- | --- | | | List of Acronyms | | vi | | | Acknowledgments | | vii | | | Abstract of the Thesis | | viii | | 1 | Introduction | | 1 | | | 1.0.1 | Challenges of Object Manipulation | 2 | | | 1.1 |…
Marta Grońska-Pęski, Tadmiri R. Venkatesh
The development of the wild type Drosophila compound eye involves stereotypical targeting of photoreceptor axons to the specific layers of the optic ganglion, medulla and lamina, in the third instar larvae. To test the hypothesis that ubiquitin ligases play an important role during retinal axon targeting we have…
Yara E. Sánchez-Corrales, Matthew Hartley, Jop van Rooij, Athanasius F. M. Marée + 1 more
Quantifying cell morphology is fundamental to the statistical study of cell populations, and can help us unravel mechanisms underlying cell and tissue morphogenesis. Current methods, however, require extensive human intervention, are highly sensitive to parameter choice, or produce metrics that are difficult to…
Sigitas Kilikevičius, Kristina Liutkauskienė, Algimantas Fedaravičius, Maysam Abbod
'Maysam Abbod'] This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experimental analyses have been performed to validate the…
Erich Mielke, Eric Townsend, David Wingate, John L. Salmon + 1 more
Human teams are able to easily perform collaborative manipulation tasks. However, simultaneously manipulating a large extended object for a robot and human is a difficult task due to the inherent ambiguity in the desired motion. Our approach in this paper is to leverage data from human-human dyad experiments to…
Mauricio González-Forero
Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical…
Edward Otieno, Katarzyna Matczyszyn, Nelson Mokaya
Quantum computing promises exponential advances in information processing, necessitating the development of appropriate materials for implementing quantum qubits and gates. Liquid crystals, known for their electro-optical characteristics and use in displays, have recently received attention as prospective candidates…
Authors not listed
Process chemistry creates scalable routes for new lead molecules and is a crucial but laborious stage in pharmaceutical and agrochemical development cycles. We have built an automated process chemistry platform that tackles late-stage process development. The modular workflow integrates both industry-standard tools and…
Sigitas Kilikevičius, Algimantas Fedaravičius, Virginija Daukantienė, Kristina Liutkauskienė + 2 more
'Kristina Liutkauskienė' 'Linas Paukštaitis' 'Sukho Park'] Currently used nonprehensile manipulation systems that are based on vibrational techniques employ temporal (vibrational) asymmetry, spatial asymmetry, or force asymmetry to provide and control a directional motion of a body. This paper presents a novel method…
Scott D. Kennedy, Andrew B. Schwartz
We act on the world by producing forces that move objects. During manipulation, force is exerted with the expectation that an object will move in an intended manner. This prediction is a learned coordination between force and displacement. Mechanically, impedance is a way to describe this coordination. As an efficient…
Or Zruya, Yarden Sharon, Hanna Kossowsky, Fulvio Forni + 2 more
Fine manipulation is important in dexterous tasks executed via teleoperation, including in robot-assisted surgery. Discovering fundamental laws of human movement can benefit the design and control of teleoperated systems, and the training of their users. These laws are formulated as motor invariants, such as the…
Nino Läubli, Michael Gerlt, Alexander Wüthrich, Renard Lewis + 5 more
Acoustically excited microstructures have demonstrated significant potential for small scale biomedical applications by overcoming major microfluidic limitations. Recently, the application of oscillating microbubbles has demonstrated their superiority over acoustically excited solid structures due to their enhanced…
Wei Zhang, Jonathan A Fine, Christopher Sculley, Jordon McGraw + 1 more
The representation of complex biomolecular structures and interactions is a difficult challenge across life sciences. Researchers and students use unintuitive 2D representations to gain an intuitive understanding of 3D space and molecular interactions. Since this is cumbersome for complex structures, such as…
Or Zruya, Ilana Nisky
Computational approaches to biological motor control are used to discover the building blocks of human motor behavior. Models explaining features of human hand movements have been studied thoroughly, yet only a few studies attempted to explain the control of the orientation of the hand; instead, they mainly focus on…
Noémie Jaquier, Leonel Rozo, Sylvain Calinon
— Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, humans are able to plan their limbs motion in anticipation of the execution of specific skills. For example, when an operator needs to drill…
Authors not listed
This paper details a 3D-printed plate handler designed to address the limitation of automated plate manipulation within the Opentrons OT-2 liquid handling robot. The hardware enables precise, automated labware transfer, expanding the OT-2’s capabilities for complex biological and chemical assays. Technically, it…
Olivier White, Amir Karniel, Raz Leib, Charalambos Papaxanthis + 1 more
Switching systems are common in artificial control systems. Here, we suggest that the brain adopts a switched feedforward control of grip forces during manipulation of objects. We measured how participants modulated grip force when interacting with soft and rigid virtual springs when stiffness varied nearly…