Related papers: Relaxed-Rigidity Constraints: Kinematic Trajectory…
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping…
We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which relies on 3D models of objects and the gripper to estimate…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Manipulation tasks are sequential in nature. Grasp selection approaches that take into account the con- straints at each task step are critical, since they allow to both (1) Identify grasps that likely require simple arm motions through the…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…
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…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…