Related papers: Relaxed-Rigidity Constraints: Kinematic Trajectory…
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…
Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper lying flat on the desk, a series of nonprehensile pregrasp…
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…
Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…
The strength of the human hand lies in its ability to manipulate small objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle small objects effectively. This is why many automation tasks…
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…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…
Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…