Related papers: Robot's hand and expansions in non-integer bases
In the present work, irregular complex joints of the human arm are modelled in the computer-aided design environment. Accurately the geometric models of the joints and surrounding bony regions are developed from computed tomography data set…
Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, humans are able to plan their limbs motion in anticipation of…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Three-dimensional random tensor models are a natural generalization of the celebrated matrix models. The associated tensor graphs, or 3D maps, can be classified with respect to a particular integer or half-integer, the degree of the…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Identifying and categorizing specific robot tasks, behaviors, and resources is an essential precursor to reproducing and evaluating robotics experiments across laboratories and platforms. Without some means of capturing how one environment,…
: Algebraic properties of orbifold models on arbitrary Riemann surfaces are investigated. The action of mapping class group transformations and of standard geometric operations is given explicitly. An infinite dimensional extension of the…
Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…
Finally, the work will include an investigation of the contextual form of explanations. In this study, we will include a time-bounded scenario in which the different levels of understanding will be tested to enable us to evaluate suitable…
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing…
In this note we study the structure and the behavior of inarticulate robots. We introduce a robot that moves by successive revolvings. The robot's structure is analyzed, simulated and discussed in detail.
Motivated by a model in quantum computation we study orthogonal sets of integral vectors of the same norm that can be extended with new vectors keeping the norm and the orthogonality. Our approach involves some arithmetic properties of the…
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…