Control Extreme High-Gain Friction Observer with L1 Adaptation High gain friction observation for accurate control and natural interaction of flexible joint robots. Disturbance-Aware Model Predictive Control Real time robust MPC for underactuated robots subject to unmatched disturbances. Physical Interaction Control Control principles for autonomous physical interaction in uncertain, unstructured, and contact-rich environments. Disturbance Observer With Constraints A quadratic programming framework that adds user defined constraints to disturbance observers. Constraint-Aware Control Control methods that remain robust to uncertainty while respecting the constraints required for safe and dependable real-world operation. Multi-Contact Feedback MPC Real time model predictive control that responds to multiple contacts at unknown locations. Constrained Nonlinear Disturbance Observer Constraint aware nonlinear disturbance observation for contact responsive robot control. Control with background image Collaborative Aerial Manipulation Decentralized control for stable collaborative grasping by multiple aerial manipulators. Memory-Based SO(3) Representations for Impedance Control Continuous rotation representation for globally consistent task space impedance control. Intelligence Grasping a project with a background image and giscus comments CDM: Contact Diffusion Model A diffusion model for accurate multi-contact point localization using proprioceptive sensing. Whole-Arm Physical Intelligence Enabling robots to sense, understand, and use contact across their entire arms. Manipulation Planning with Tight Geometric Constraints Hierarchical task and motion planning guided by a reachability tree. Spatio-Temporal Embodied Intelligence Understanding space, time, and interaction for embodied intelligence. Multi-Contact Localization and Force Identification Proprioceptive estimation of multiple contact locations and forces on robot arms. Hardware SAM with background image Fully Actuated Drone with Non-Isotropic Wrench Shape An energy efficient fully actuated drone designed for directional aerial contact forces. SAM2 Enabling cable-suspended aerial manipulators to maneuver through high-altitude workspaces and physically interact with their environment.
