Let's Push Things Forwards
As robots make their way out of factories to work alongside humans, it is crucial that they develop the necessary skills to manipulate and interact with their environment in various and unforeseeable circumstances. Pushing, with this regards, becomes a key primitive manipulation skill for a robot's repertoire. Imagine a humanoid robot designate to assist elders in their houses, tasked to fetch a medicine from the top shelf. Instead of picking up each object that obstructs the
'Feature-Based Transfer Learning for Robotic Push Manipulation'
Our paper entitled 'Feature-Based Transfer Learning for Robotic Push Manipulation' published in 2018 IEEE International Conference on Robotics and Automation (ICRA) has been selected for an extended version by the Special Issue on Advancement in Engineering and Computer Science organized by Advances in Science, Technology and Engineering Systems Journal (ASTESJ) Thanks to my students, Rhys Howard and Jochen Stuber, the extended paper also proposed a improvement of a twofold i
Towards Robots that We can Trust
As robots make their way into our homes, the ability to predict how their actions affect the environment is a key skill that they need to possess to operate in safety and gain our trust. In this work, we review the robotic pushing literature. While focusing on work concerned with predicting the motion of pushed objects, we also cover relevant applications of pushing for planning and control. This paper is concerned with the evolution of forwards models (FMs) and their applica