Autonomous fall recovery
Learning whole-body motor skills for legged robots. The learning algorithm can successfully discover various recovery behaviors by exploiting whole-body contacts with the environment to achieve dynamic and contact-rich tasks.
Learning obstacle negotiation and fall recovery for a delivery robot
Anthropomorphic robotic hand for manipulation and grasping
Haptic-guided teleoperation using Sigma.7 and Franka arm: sense interaction forces and exploit affordance.
Autonomous robotic manipulation: reactive grasping
Learning reactive reaching, graspign and re-grasping to handle slippage and disturbances.
Fine control of grasping force
Compliant force control for strawberry-picking.
Immersive virtual reality for manipulation
Immersive multimodal interface to handle and manipulate various objects:
immersive VR headset, optical markerless hand-tracking and haptic gloves.
Object detection and semantic segmentation
Visual perception for robot manipulation and grasping.
Robust walking and push recovery
Optimisation and predictive control to counterbalance external pushes.