Related papers: Complex In-Hand Manipulation via Compliance-Enable…
We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring…
While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Bagging operations, common in packaging and assisted living applications, are challenging due to a bag's complex deformable properties. To address this, we develop a robotic system for automated bagging tasks using an adaptive…
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…
Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…
Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…
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.…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping…
In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…