Recent advances in both anthropomorphic robots and bimanual industrial manipulators had
led to an increased interest in the specific problems pertaining to dual arm manipulation. For …

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or
otherwise inaccessible environments. Although most legged robotics research to date …

Handing over objects to humans is an essential capability for assistive robots. While there
are infinite ways to hand an object, robots should be able to choose the one that is best for …

Many exciting robotic applications require multiple robots with many degrees of freedom,
such as manipulators, to coordinate their motion in a shared workspace. Discovering high …

Having a representation of the capabilities of a robot is helpful when online queries, such as
solving the inverse kinematics (IK) problem for grasping tasks, must be processed efficiently …

The ability of computing a quality index for given configurations can be useful for several
applications in the context of robotic manipulation. Eg it can be used for monitoring the …

It is essential yet challenging for future home-assistant robots to understand and manipulate
diverse 3D objects in daily human environments. Towards building scalable systems that …

Human-robot handover is a fundamental yet challenging task in human-robot interaction
and collaboration. Recently, remarkable progressions have been made in human-to-robot …

Many robotic systems are comprised of two or more arms. Such systems range from dual-
arm household manipulators to factory floors populated with a multitude of industrial robotic …

The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation,
and perception to accomplish several disaster‐response tasks. We describe our hardware …