Related papers: Leveraging Multimodal Haptic Sensory Data for Robu…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Humans are very effective at interpreting subtle properties of the partner's movement and use this skill to promote smooth interactions. Therefore, robotic platforms that support human partners in daily activities should acquire similar…
Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…
While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in…
Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Object manipulation is a natural activity we perform every day. How humans handle objects can communicate not only the willfulness of the acting, or key aspects of the context where we operate, but also the properties of the objects…
Automating chicken shoulder deboning requires precise 6-DoF cutting through a partially occluded, deformable, multi-material joint, since contact with the bones presents serious health and safety risks. Our work makes both systems-level and…
Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…