8 citations · 20 across the 19 of their papers we have counts for
6 papers · 1 filter
Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Manipulation without grasping, known as non-prehensile manipulation, is essential for dexterous robots in contact-rich environments, but presents many challenges relating with unde…
An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation
Wenqian Du, Ran Long, João Moura +3
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requ…
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
Victor Leve, João Moura, Namiko Saito +2
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulatio…
Impact-Aware Bimanual Catching of Large-Momentum Objects
Lei Yan, Theodoros Stouraitis, João Moura +3
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing…
Latent Object Characteristics Recognition with Visual to Haptic-Audio Cross-modal Transfer Learning
Namiko Saito, Joao Moura, Hiroki Uchida +1
Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of reali…
Learning Goal-Directed Object Pushing in Cluttered Scenes With Location-Based Attention
Nils Dengler, Juan Del Aguila Ferrandis, João Moura +2
In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-p…