Manipulation of Foodstuffs by Cooking Robot

Pivoting based manipulation by a humanoid robot

In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a “pivoting” manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the smalltime controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking int...

Teaching a Robot Manipulation

An automated software system has been developed to allow robots to learn a generalized motor skill from demonstrations given by a human operator. Data is captured using a teleoperation suit as a task is performed repeatedly on Leonardo, the Robotic Life group's anthropomorphic robot, in different parts of his workspace. Stereo vision and tactile feedback data are also captured. Joint and end ef...

Robot Manipulation of Deformable Objects

Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

Planning of Graspless Manipulation by Multiple Robot Fingers

Graspless manipulation is to manipulate objects without grasping by just pushing, tumbling, and so on. One of the main difficulties in graspless manipulation is planning. It is very time-consuming to plan a general graspless manipulation problem, because it requires complicated mechanical analysis including friction. To reduce the load of computation, we adopt a two-step approach: 1) constructi...