Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual
feedback. However, the distinct nature of these modalities poses significant challenges. In …

This paper explores autonomous locomotion, reaching, gras** and manipulation for the
domain of navigation among movable obstacles (NAMO). The robot perceives and …

This paper describes real-time gait planning for pushing motion of humanoid robots. This
method deals with an object whose mass is not known. In order that a humanoid robot …

This paper proposes a combined planning and optimization method that enables a dual-arm
robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by …

The paper develops a robotic manipulation system to meet the pressing needs for handling
a large number of test tubes in clinical examination and replace or reduce human labor. It …

In this paper we address smooth and collision-free whole-body motion planning for
humanoid robots. A two-stage iterative planning framework is introduced where geometric …

This paper presents three effective manipulation strategies for wheeled, dynamically
balancing robots with articulated links. By comparing these strategies through analysis …

This paper addresses a multi-level exploitation of degree of freedom (DOF), for humanoid
motion planning based on a randomized method. The improvement of autonomy and …

This paper discusses a strategy for a humanoid robot to pull a fire hose while walking
towards a desired position and orientation. A hybrid controller on the robot's wrist holding …

Robots would be much more useful if they could move obstacles out of the way. Traditional
motion planning searches for collision free paths from a start to a goal. However, real world …