Related papers: Real-Time Robust Finger Gaits Planning under Objec…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…
Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…
Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…
Dexterous robot hand teleoperation allows for long-range transfer of human manipulation expertise, and could simultaneously provide a way for humans to teach these skills to robots. However, current methods struggle to reproduce the…
Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-orientation of objects. However, achieving these gaits with arbitrary orientations of the hand is challenging due to the unstable nature of the task. In…
Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators. However, such hands pose a major challenge for autonomous control, due to…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…
The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…
We propose a method for planning motion for robots with actuation uncertainty that incorporates contact with the environment and the compliance of the robot to reliably perform manipulation tasks. Our approach consists of two stages: (1)…
This paper introduces a novel motion planner, incrementally stochastic and accelerated gradient information mixed optimization (iSAGO), for robotic manipulators in a narrow workspace. Primarily, we propose the overall scheme of iSAGO…
Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theoretically well-suited for working in human domains, but their…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping…
Articulated objects are ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel framework for goal-conditioned articulated object manipulation. The core of our framework is constructing an explicit world model of…
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different…