Related papers: Planning High-Quality Grasps using Mean Curvature …
Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…
Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape,…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
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…
We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. The objective is to efficiently grasp and transport all…
We present stress-minimizing (SM) metric, a new metric of grasp qualities. Unlike previous metrics that ignore the material of target objects, we assume that target objects are made of homogeneous isotopic materials. SM metric measures the…
Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…
This paper presents a novel method for model-free prediction of grasp poses for suction grippers with multiple suction cups. Our approach is agnostic to the design of the gripper and does not require gripper-specific training data. In…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the…
Food packing industry workers typically pick a target amount of food by hand from a food tray and place them in containers. Since menus are diverse and change frequently, robots must adapt and learn to handle new foods in a short time-span.…
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution,…