Related papers: Compliant Manipulation of Free-Floating Objects
We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base.…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Single view-based reconstruction of hand-object interaction is challenging due to the severe observation missing caused by occlusions. This paper proposes a physics-based method to better solve the ambiguities in the reconstruction. It…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…