Related papers: In-air Knotting of Rope using Dual-Arm Robot based…

We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot…

From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a convolutional neural network to predict grasp success as a function of both visual information of an object and grasp…

High precision assembly of mechanical parts requires accuracy exceeding the robot precision. Conventional part mating methods used in the current manufacturing requires tedious tuning of numerous parameters before deployment. We show how…

In this paper, we approach the challenging problem of motion planning for knot tying. We propose a hierarchical approach in which the top layer produces a topological plan and the bottom layer translates this plan into continuous robot…

This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…

Disentangling two or more cables requires many steps to remove crossings between and within cables. We formalize the problem of disentangling multiple cables and present an algorithm, Iterative Reduction Of Non-planar Multiple cAble kNots…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

Learning from demonstration (LfD) provides a convenient means to equip robots with dexterous skills when demonstration can be obtained in robot intrinsic coordinates. However, the problem of compounding errors in long and complex skills…

Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

Inserting an end of a rope through a loop is a common and important action that is required for creating most types of knots. To perform this action, we need to pass the end of the rope through an area that is enclosed by another segment of…

A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to transport the hand into the vicinity of an object, and using…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

Robotic knot-tying represents a fundamental challenge in robotics due to the complex interactions between deformable objects and strict topological constraints. We present TWISTED-RL, a framework that improves upon the previous…

Knots in wood are critical to both aesthetics and structural integrity, making their detection and pairing essential in timber processing. However, traditional manual annotation was labor-intensive and inefficient, necessitating automation.…