Related papers: Robust Object Manipulation for Tactile-based Blind…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…