Visuo-Tactile Control

New visual/tactile control for manipulation contributed by Qiang Li from CITEC Bielefeld:

(1) tactile servoing(related paper published in RSS2013)

(2) unknown object manipulation in-hand(related paper will be published in the forthcoming in IROS2013) :




Autonomous Intelligent Systems

The Autonomous Robotic Collaboration (ARC) Lab

Control Systems Laboratory

The Manipulation Lab

Personal Robotics Lab

Robotics and Biology Laboratory

Robotics Innovation Center (RIC)

Robotics Laboratory of Ecole Polytechnique



Autonomous Intelligent Systems

Winning team NimbRo of the RoboCup 2012@Home competition in Mexico City.

The video shows scenes from the 2012 RoboCup@Home competition, which took place in Mexico City. The cognitive service robots Dynamaid and Cosero of team NimbRo (University of Bonn, Germany) perform several tasks in a household environment, including serving drinks and watering a plant.


Winning team NimbRo of the RoboCup 2011@Home competition in Istanbul.

The video shows some scenes of the 2011 RoboCup@Home competition from the winning team NimbRo (University of Bonn, Germany). The robots Cosero and Dynamaid recognize persons, find and fetch objects, clean-up the place, help carrying a table, and finally make an omelet.


Mobile Bin Picking with Cognitive Service Robot Cosero

The video shows the results of the ECHORD experiments ActReMa - Active Recognition and Manipulation of Simple Parts Exploiting 3D Information, which has been carried out by University of Bonn and Metronom Automation GmbH. Our robot Cosero recognizes parts in a transport box, grasps them, and delivers them. We learn object models from examples and actively explore the contents of the box.




The Autonomous Robotic Collaboration (ARC) Lab

Worcester News Tonight Clip of Archie, WPI's PR2 Robot

Archie arriving at WPI and overview of the research we will conduct



Control Systems Laboratory



In this animation the motion of an AUV is presented. When it spots a particular item for handling, it stops above it and a manipulator grabs it


Turning an underactuated system such as a AUV is not a trivial task. In order to follow a specific circular arc, the vehicle must turn in such a way that its longitudinal axis has been rotated in such way to compensate for the effects of water drag.



The mobile robot tries to reach a predetermined point avoiding a static obstacle.


The mobile robot tries to reach a predetermined point avoiding a dynamic obstacle.


This video presents 2 lego robots. The first searches for a particular area (red circle) and upon finding it, it calls a second robot to reach the particular area.



A needle attached on the mobile microrobot moves towards the target under a videomicroscope. A visual servoing algorithm controls the vibration micrormotors, and consequently the motion of the mobile microrobots.



The mobile microrobot executes a translational and then a rotational motion. The microrobot is fully autonomous powered by a pair of batteries.




This video presents all the motions that the robotic emulator can perform. First the use of thrusters for a linear motion is presented. In the next clip the rotation around its center of mass using thrusters is presented while in the third clip the same motion using the reaction wheel is shown. Finally the reaction of the base upon arms motion, due to angula momentum is shown.



The Manipulation Lab

Do What You Do

A look back at the Robotics Institute's Manipulation Lab set to the groovy tune "Do What You Do" by Eldridge Gravy & The Court Supreme. This video was created in a special collaboration with the band and the MLab. Thanks for the Gravy!



Personal Robotics Lab

Push-Grasping with Dexterous Hands

We add to a manipulator’s capabilities a new primitive motion which we term a push-grasp. While significant progress has been made in robotic grasping of objects and geometric path planning for manipulation, such work treats the world and the object being grasped as immovable, often declaring failure when simple motions of the object could produce success. We analyze the mechanics of push-grasping and present a quasi-static tool that can be used both for analysis and simulation. We utilize this analysis to derive a fast, feasible motion planning algorithm that produces stable push-grasp plans for dexterous hands in the presence of object pose uncertainty and high clutter. We demonstrate our algorithm on HERB.


Rearrangement Planning using Pushing Actions

Human environments are cluttered and robots regularly need to solve rearrangement problems by moving certain objects out of the way to reach other objects. We developed an algorithm to rearrange clutter using a library of actions including pushing. The planner can move objects that are not movable by pick-and-place actions, e.g. large or heavy objects.



Efficient Touch Based Localization through Submodularity

We address the handling of uncertainty by finding a sequence of information gathering actions prior to attempting a task. Finding the optimal sequence, which takes the minimum amount of time while providing sufficient information, is generally intractable (e.g. through a POMDP). Instead, we formulate the problem as one of submodular maximization, allowing us to select actions greedily while guaranteeing near-optimality.





Robotics and Biology Laboratory (RBO)

Motion Generation for Mobile Manipulators in Unpredictable Environments

This video demonstrates a system for the execution of end-effector tasks while moving a mobile manipulator in dynamically changing environments.


Soft Hand

This video shows an uncut scene of the RBO Hand grasping different objects from a preset spot.


Interactive Segmentation of Articulated Objects in 3D

This video shows a robust perceptual skill for identifying, tracking, and segmenting objects in unstructured scenes.





Robotics Innovation Center (RIC)

AILA performing an autonomous mission in ISS (Internation Space Station) setup.

AILA learning arm motion by operator demonstration.



A team of two robots demonstrate the abilities to localize and to transport objects.





Robotics Laboratory of Ecole Polytechnique


This video shows several closing sequences on different objects of an industrial size underactuated finger printed with a rapid prototyping machine.

Please publish modules in offcanvas position.

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