Related papers: DextAIRity: Deformable Manipulation Can be a Breez…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rotating the handle, widening the gap, holding the door,…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
We present Glovity, a novel, low-cost wearable teleoperation system that integrates a spatial wrench (force-torque) feedback device with a haptic glove featuring fingertip Hall sensor calibration, enabling feedback-rich dexterous…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Dexterous grasping in cluttered environments presents substantial challenges due to the high degrees of freedom of dexterous hands, occlusion, and potential collisions arising from diverse object geometries and complex layouts. To address…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping…
Dexterous manipulation, particularly adept coordinating and grasping, constitutes a fundamental and indispensable capability for robots, facilitating the emulation of human-like behaviors. Integrating this capability into robots empowers…
The influence of a deformable mirror on spatial light modulation in ultrafast lasers processing is demonstrated. The deformable mirror was integrated into an optical setup which contains an additional lens for generating a nearly linear…
We study the flow behavior and unjamming transition in dense assemblies of actively deforming particles that periodically change size, a process that we refer to as breathing. Using extensive molecular dynamics simulations and a…
Bag manipulation through robots is complex and challenging due to the deformability of the bag. Based on dynamic manipulation strategy, we propose a new framework, ShakingBot, for the bagging tasks. ShakingBot utilizes a perception module…
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and their dynamic interaction with rigid bodies remains…
In-hand object reorientation is necessary for performing many dexterous manipulation tasks, such as tool use in less structured environments that remain beyond the reach of current robots. Prior works built reorientation systems assuming…
A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…
Mechanics of materials is a classic course of engineering presenting the fundamentals of strain and stress analysis to junior undergraduate students in several engineering majors. So far, material deformation and strain have been only…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…