Related papers: Enumeration, structural and dimensional synthesis …
Robotic dexterous grasping is important for interacting with the environment. To unleash the potential of data-driven models for dexterous grasping, a large-scale, high-quality dataset is essential. While gradient-based optimization offers…
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…
Nowadays, the need for large amounts of carefully and complexly annotated data for the training of computer vision modules continues to grow. Furthermore, although the research community presents state of the art solutions to many problems,…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Dexterity is a central yet ambiguously defined concept in the design and evaluation of anthropomorphic robotic hands. In practice, the term is often used inconsistently, with different systems evaluated under disparate criteria, making…
Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
The 3D shape of a robot's end-effector plays a critical role in determining it's functionality and overall performance. Many industrial applications rely on task-specific gripper designs to ensure the system's robustness and accuracy.…
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview…
In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and…
We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF…
The study of hand-object interaction requires generating viable grasp poses for high-dimensional multi-finger models, often relying on analytic grasp synthesis which tends to produce brittle and unnatural results. This paper presents…
Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…
Making a product conform to the functional requirements indicated by the customer suppose to be able to manage the manufacturing process chosen to realise the parts. A simulation step is generally performed to verify that the expected…
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…
Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…
Machines that mimic humans have inspired scientists for centuries. Bio-inspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…