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4,905 results on '"Khatib, Oussama"'

1. Robotic Ultrasound Imaging with Haptic Guidance and Human Expert Strategies

Author

Piedra, Adrian, Jeffrey, R. Brooke, Khatib, Oussama, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Ang Jr, Marcelo H., editor

Published
2024
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2. A New Compact Paired-Parallel Architecture for Haptic Transparency

Author

Vulliez, Margot, Khatib, Oussama, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Lenarčič, Jadran, editor, and Husty, Manfred, editor

Published
2024
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3. Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation

Author

Galbally, Elena, Piedra, Adrian, Brosque, Cynthia, and Khatib, Oussama

Subjects
Computer Science - Robotics
Abstract

Even the most robust autonomous behaviors can fail. The goal of this research is to both recover and collect data from failures, during autonomous task execution, so they can be prevented in the future. We propose haptic intervention for real-time failure recovery and data collection. Elly is a system that allows for seamless transitions between autonomous robot behaviors and human intervention while collecting sensory information from the human's recovery strategy. The system and our design choices were experimentally validated on a single arm task -- installing a lightbulb in a socket -- and a bimanual task -- screwing a cap on a bottle -- using two 7-DOF manipulators equipped 4-finger grippers. In these examples, Elly achieved over 80% task completion during a total of 40 runs.

Published
2022

4. A wireless signal-based sensing framework for robotics

Author

Jadhav, Ninad, Wang, Weiying, Zhang, Diana, Khatib, Oussama, Kumar, Swarun, and Gil, Stephanie

Subjects
Computer Science - Robotics, Computer Science - Multiagent Systems
Abstract

In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA), to other robots, while operating in non-line-of-sight unmapped environments and without requiring external infrastructure. We do so by capturing all of the paths that a wireless signal traverses as it travels from a transmitting to a receiving robot in the team, which we term as an AOA profile. The key intuition behind our approach is to enable a robot to emulate antenna arrays as it moves freely in 2D and 3D space. The small differences in the phase of the wireless signals are thus processed with knowledge of robots' local displacement to obtain the profile, via a method akin to Synthetic Aperture Radar (SAR). The main contribution of this work is the development of i) a framework to accommodate arbitrary 2D and 3D motion, as well as continuous mobility of both signal transmitting and receiving robots, while computing AOA profiles between them and ii) a Cramer-Rao Bound analysis, based on antenna array theory, that provides a lower bound on the variance in AOA estimation as a function of the geometry of robot motion. We show that allowing robots to use their full mobility in 3D space while performing SAR, results in more accurate AOA profiles and thus better AOA estimation. All analytical developments are substantiated by extensive simulation and hardware experiments on air/ground robot platforms using 5 GHz WiFi. Our experimental results bolster our analytical findings, demonstrating that 3D motion provides enhanced and consistent accuracy, with total AOA error of less than 10 degree for 95% of trials. We also analytically characterize the impact of displacement estimation errors on the measured AOA., Comment: 27 pages, 27 figures, *co-primary authors

Published
2020
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5. Parametrization of Compliant, Object-Level Controllers from Human Demonstrations

Author

Herrero, Elena Galbally, Piedra, Adrian, Brosque, Cynthia, Khatib, Oussama, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Altuzarra, Oscar, editor, and Kecskeméthy, Andrés, editor

Published
2022
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6. UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands

Author

Shao, Lin, Ferreira, Fabio, Jorda, Mikael, Nambiar, Varun, Luo, Jianlan, Solowjow, Eugen, Ojea, Juan Aparicio, Khatib, Oussama, and Bohg, Jeannette

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence
Abstract

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object geometry but are specific to a certain robot hand. We propose UniGrasp, an efficient data-driven grasp synthesis method that considers both the object geometry and gripper attributes as inputs. UniGrasp is based on a novel deep neural network architecture that selects sets of contact points from the input point cloud of the object. The proposed model is trained on a large dataset to produce contact points that are in force closure and reachable by the robot hand. By using contact points as output, we can transfer between a diverse set of multifingered robotic hands. Our model produces over 90% valid contact points in Top10 predictions in simulation and more than 90% successful grasps in real world experiments for various known two-fingered and three-fingered grippers. Our model also achieves 93%, 83% and 90% successful grasps in real world experiments for an unseen two-fingered gripper and two unseen multi-fingered anthropomorphic robotic hands., Comment: Accepted to IEEE Robotics and Automation Letters with ICRA 2020 option

Published
2019
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7. Experimental Studies of Contact Space Model for Multi-surface Collisions in Articulated Rigid-Body Systems

Author

Ganguly, Shameek, Khatib, Oussama, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Xiao, Jing, editor

Published
2020
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8. Controlling Muscle-Actuated Articulated Bodies in Operational Space

Author

Menon, Samir, Migimatsu, Takatoki, Khatib, Oussama, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Amato, Nancy M., editor, Hager, Greg, editor, Thomas, Shawna, editor, and Torres-Torriti, Miguel, editor

Published
2020
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11. Controlling Ocean One

Author

Brantner, Gerald, Khatib, Oussama, Siciliano, Bruno, Series editor, Khatib, Oussama, Series editor, Antonelli, Gianluca, Advisory editor, Fox, Dieter, Advisory editor, Harada, Kensuke, Advisory editor, Hsieh, M. Ani, Advisory editor, Kröger, Torsten, Advisory editor, Kulic, Dana, Advisory editor, Hutter, Marco, editor, and Siegwart, Roland, editor

Published
2018
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18. Correction to: Experimental Robotics

Author

Siciliano, Bruno, Laschi, Cecilia, Khatib, Oussama, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Laschi, Cecilia, editor

Published
2021
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36. Introduction

Author

Siciliano, Bruno, Khatib, Oussama, Siciliano, Bruno, editor, and Khatib, Oussama, editor

Published
2008
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38. The Age of Human-Robot Collaboration

Author

Khatib, Oussama, Serafini, Paolo, Series Editor, Guazzelli, Elisabeth, Series Editor, Rammerstorfer, Franz G., Series Editor, Schrefler, Bernhard, Series Editor, Wall, Wolfgang A., Series Editor, Arakelian, Vigen, editor, and Wenger, Philippe, editor

Published
2019
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42. Cooperative Manipulation

Author

Pierri, Francesco, Franchi, Antonio, Ang, Marcelo H., Khatib, Oussama, Siciliano, Bruno, Robotics and Mechatronics, and Digital Society Institute

Subjects
Cooperative transportation, Multiple manipulator system, 2023 OA procedure, Physically collaborative robots
Published
2023

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