Related papers: In-Hand Object Stabilization by Independent Finger…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…
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…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
This paper presents a bionic reflex control strategy for a kinematically constrained robotic finger. Here, the bionic reflex is achieved through a force tracking impedance control strategy. The dynamic model of the finger is reduced subject…
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…
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
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…