Related papers: Safe Grasping with a Force Controlled Soft Robotic…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…
The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In this paper, we aim to study a unified feedback control policy…
In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly while introducing new complexities into the design process.…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…