Related papers: Bimanual Shelf Picking Planner Based on Collapse P…
This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement.…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
Autonomous excavation for hard or compact materials, especially irregular rigid objects, is challenging due to high variance of geometric and physical properties of objects, and large resistive force during excavation. In this paper, we…
Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition is uncertain. Due to this uncertainty, earlier work has concentrated on either identifying the…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
A human hand can grasp a desired number of objects at once from a pile based solely on tactile sensing. To do so, a robot needs to grasp within a pile, sense the number of objects in the grasp before lifting, and predict the number of…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Shelves are common in homes, warehouses, and commercial settings due to their storage efficiency. However, this efficiency comes at the cost of reduced visibility and accessibility. When looking from a side (lateral) view of a shelf, most…
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…
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…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of…
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…