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We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…
We show that there is a fully faithful embedding of the category of manifolds with corners into the Cahiers topos, one of the premier models for Synthetic Differential Geometry. This embedding is shown to have a number of nice properties,…
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
We propose a new class of space-filling designs called rotated sphere packing designs for computer experiments. The approach starts from the asymptotically optimal positioning of identical balls that covers the unit cube. Properly scaled,…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…
Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
In this work, we present a grasp planner which integrates two sources of information to generate robust grasps for a robotic hand. First, the topological information of the object model is incorporated by building the mean curvature…
In vision-based robot manipulation, a single camera view can only capture one side of objects of interest, with additional occlusions in cluttered scenes further restricting visibility. As a result, the observed geometry is incomplete, and…
Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…
Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…
Leveraging human grasping skills to teach a robot to perform a manipulation task is appealing, but there are several limitations to this approach: time-inefficient data capture procedures, limited generalization of the data to other grasps…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…