Expertise

Mobile Manipulation

THRI, 2023

Communicating Missing Causal Information to Explain a Robot’s Past Behavior

Robots need to explain their behavior to gain trust. Existing research has focused on explaining a robot’s current behavior, yet it remains unknown yet challenging how to provide explanations of past actions in an environment that might change after a robot’s actions, leading to critical missing causal information due to moved objects. We conducted… Continue reading Communicating Missing Causal Information to Explain a Robot’s Past Behavior

Published

HRI 2022

Projecting Robot Navigation Paths: Hardware and Software for Projected AR

Navigation Intent, projection mapping

For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such understanding is by visualizing this intent through projections onto the surrounding environment. But despite the demonstrated effectiveness of such projections,… Continue reading Projecting Robot Navigation Paths: Hardware and Software for Projected AR

Published

ICRA 2020

Towards Mobile Multi-Task Manipulation in a Confined and Integrated Environment with Irregular Objects

The FetchIt! Mobile Manipulation Challenge, held at the IEEE International Conference on Robots and Automation (ICRA) in May 2019, offered an environment with complex and integrated task sets, irregular objects, confined space, and machining, introducing new challenges in the mobile manipulation domain. Here we describe our efforts to address these challenges by demonstrating the… Continue reading Towards Mobile Multi-Task Manipulation in a Confined and Integrated Environment with Irregular Objects

Published

Second Place

FetchIt Mobile Manipulation Challenge at ICRA 2019

Second place, Fetchit Mobile Manipulation Challenge

In the competition, a Fetch mobile manipulator robot autonomously navigates to stations in a narrow work cell to pick parts in irregular shape (screws, gears, gearbox parts) and machine large gears by inserting into a narrow chuck, transport and place them into a human-friendly caddy, and drop off the caddy on a specified region at… Continue reading FetchIt Mobile Manipulation Challenge at ICRA 2019

Published