Related papers: Reorienting Objects in 3D Space Using Pivoting
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
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.…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
Modeling arbitrarily large deformations of surfaces smoothly embedded in three-dimensional space is challenging. The difficulties come from two aspects: the existing geometry processing or forward simulation methods penalize the difference…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a…
In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…
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…
This letter presents a novel small gripper capable of grasping various types of small-sized items from flat surfaces for the assembly of small devices. Using a single actuator, the proposed gripper realizes two grasping modes: parallel-grip…