Related papers: A Tendon-driven Robot Gripper with Passively Switc…
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…
Research in soft manipulators has significantly enhanced object grasping capabilities, thanks to their adaptability to various shapes and sizes. Applying this technology to on-orbit servicing, especially during the capture and containment…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
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…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
Soft grippers are gaining momentum across applications due to their flexibility and dexterity. However, the infinite-dimensionality and non-linearity associated with soft robots challenge modeling and closed-loop control of soft grippers to…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…