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Exponents and logarithms are fundamental components in many important applications such as logistic regression, maximum likelihood, relative entropy, and so on. Since the exponential cone can be viewed as the epigraph of perspective of the…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
The mechanism behind the generation of human movements is of great interest in many fields (e.g. robotics and neuroscience) to improve therapies and technologies. Optimal Feedback Control (OFC) and Passive Motion Paradigm (PMP) are…
The internal structure of the Fin-Ray fingers plays a significant role in their adaptability and grasping performance. However, modeling the grasp force and deformation behavior for design purposes is challenging. When the Fin-Ray finger…
This work presents a fast anytime algorithm for computing globally optimal independent contact regions (ICRs). ICRs are regions such that one contact within each region enables a valid grasp. Locations of ICRs can provide guidance for grasp…
In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware contact maps. Unlike traditional contact maps that only reason…
This paper proposes low-complexity algorithms for finding approximate second-order stationary points (SOSPs) of problems with smooth non-convex objective and linear constraints. While finding (approximate) SOSPs is computationally…
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…
We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset. Our evaluation demonstrated the system's high accuracy…
This paper presents a customized second-order cone programming (SOCP) solver tailored for embedded real-time optimization, which frequently arises in modern guidance and control (G&C) applications. The solver employs a practically efficient…
Classical approaches to grasp planning are deterministic, requiring perfect knowledge of an object's pose and geometry. In response, data-driven approaches have emerged that plan grasps entirely from sensory data. While these data-driven…
Can machine automatically generate multiple distinct and natural hand grasps, given specific contact region of an object in 3D? This motivates us to consider a novel task of \textit{Region Controllable Hand Grasp Generation (RegionGrasp)},…
Selecting out-of-reach objects is a fundamental task in mixed reality (MR). Existing methods rely on a single cue or deterministically fuse multiple cues, leading to performance degradation when the dominant cue becomes unreliable. In this…
Handling object deformations for robotic grasping is still a major problem to solve. In this paper, we propose an efficient learning-free solution for this problem where generated grasp hypotheses of a region of an object are adapted to its…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Mixed-Integer Second-Order Cone Programs (MISOCPs) form a nice class of mixed-inter convex programs, which can be solved very efficiently due to the recent advances in optimization solvers. Our paper bridges the gap between modeling a class…
Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more efficient and natural than relying solely on end-effectors…
In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during…
Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper lying flat on the desk, a series of nonprehensile pregrasp…