GRASP

Legged robots, robotic manipulators, and their combined embodiment as humanoid robots have received considerable attention across both academia and industry. However, with few notable exceptions, state-of-the-art demonstrations are significantly less dynamic than their biological counterparts. A considerable challenge for performing more dynamic tasks for both legged robots and robotics manipulators lies within controlling contact interactions […]

The field of robotic manipulation is attempting to expand from structured warehouse and lab environments to in-the-wild applications in human-centric settings. When deployed in novel settings, a robot may see and need to interact with a new object for the first time. Model-based control approaches rely on a priori dynamics models, an assumption that does […]