Related papers: Active entanglement enables stochastic, topologica…
The design of amorphous entangled systems, specifically from soft and active materials, has the potential to open exciting new classes of active, shape-shifting, and task-capable 'smart' materials. However, the global emergent mechanics…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Networks of flexible filaments often involve regions of tight contact. Predictively understanding the equilibrium configurations of these systems is challenging due to intricate couplings between topology, geometry, large nonlinear…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…
The inertialess fluid-structure interactions of active and passive inextensible filaments and slender- rods are ubiquitous in nature, from the dynamics of semi-flexible polymers and cytoskeletal filaments to cellular mechanics and flagella.…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
Entangled matter provides intriguing perspectives in terms of deformation mechanisms, mechanical properties, assembly and disassembly. However, collective entanglement mechanisms are complex, occur over multiple length scales, and they are…
Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight that tend to get entangled, stick or clump together, it is difficult to…