Related papers: A Convex-Combinatorial Model for Planar Caging
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI)…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…
Bayesian optimal sensor placement, in its full generality, seeks to maximize the mutual information between uncertain model parameters and the predicted data to be collected from the sensors for the purpose of performing Bayesian inference.…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
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…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
Multi-fingered robotic grasping is an undeniable stepping stone to universal picking and dexterous manipulation. Yet, multi-fingered grippers remain challenging to control because of their rich nonsmooth contact dynamics or because of…
Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired…
Bagging operations, common in packaging and assisted living applications, are challenging due to a bag's complex deformable properties. To address this, we develop a robotic system for automated bagging tasks using an adaptive…
Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling tool-environment interaction is difficult, especially when…
Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When two or more sensors are capable of producing their own…