As robots make their way out of factories into human environments, outer space, and
beyond, they require the skill to manipulate their environment in multifarious, unforeseeable …

Simulations are attractive environments for training agents as they provide an abundant
source of data and alleviate certain safety concerns during the training process. But the …

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too
cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when …

We would like to give robots the ability to position and orient parts in the plane by pushing,
particularly when the parts are too large or heavy to be grasped and lifted. Unfortunately, the …

This paper introduces a pose-sensing system for soft robot arms integrating a set of
macrobend stretch sensors. The macrobend sensory design in this study consists of optical …

We propose a Deep Interaction Prediction Network (DIPN) for learning to predict complex
interactions that ensue as a robot end-effector pushes multiple objects, whose physical …

Robotic manipulation systems suffer from two main problems in unstructured human
environments: uncertainty and clutter. We introduce a planning framework addressing these …

In this paper, we propose a motion-planning method of multiple mobile robots for
cooperative transportation of a large object in a three-dimensional environment. This task …

Abstract We present RRT^ X RRT X, the first asymptotically optimal sampling-based motion
planning algorithm for real-time navigation in dynamic environments (containing obstacles …

This paper discusses issues in the design and implementation of metamorphic robotic
systems. A metamorphic robotic system is a collection of independently controlled …