Related papers: Design of a sensor integrated adaptive gripper
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
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…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object…
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…
Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
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…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…