Related papers: Towards Complex and Continuous Manipulation: A Ges…
The established way of interfacing with most computer systems is a mouse and keyboard. Hand gestures are an intuitive and effective touchless way to interact with computer systems. However, hand gesture based systems have seen low adoption…
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes only uncalibrated proprioceptive information and shows…
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…
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Enabling robots to dexterously grasp and manipulate objects based on human commands is a promising direction in robotics. However, existing approaches are challenging to generalize across diverse objects or tasks due to the limited scale of…
Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing…
The human hand plays a vital role in daily life and industrial applications, yet replicating its multifunctional capabilities-including motion, sensing, and coordinated manipulation with robotic systems remains a formidable challenge.…
Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without…
A dexterous hand capable of generalizable grasping objects is fundamental for the development of general-purpose embodied AI. However, previous methods focus narrowly on low-level grasp stability metrics, neglecting affordance-aware…
We present an attention based visual analysis framework to compute grasp-relevant information in order to guide grasp planning using a multi-fingered robotic hand. Our approach uses a computational visual attention model to locate regions…
Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
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.…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require…