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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…
Applying suction grippers in unstructured environments is a challenging task because of depth and tilt errors in vision systems, requiring additional costs in elaborate sensing and control. To reduce additional costs, suction grippers with…
Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situations common in real-world tool use. Existing methods largely…
This paper introduces an extension to the energy map method for in-hand manipulation. Energy maps are used to predict how a part will evolve in the grasp given a specific actuation input to the gripper. Previous approaches assumed…
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…
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
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…