Related papers: A Convex-Combinatorial Model for Planar Caging

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…

This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…

The implementation of computational sensing strategies often faces calibration problems typically solved by means of multiple, accurately chosen training signals, an approach that can be resource-consuming and cumbersome. Conversely, blind…

We present a novel and effective binary representation for convex shapes. We show the equivalence between the shape convexity and some properties of the associated indicator function. The proposed method has two advantages. Firstly, the…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…

Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. Previous efforts for exact algorithms have been unable to avoid structural problems that appear for…

Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

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…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…

Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…

Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…

We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration…