Related papers: Designing Underactuated Graspers with Dynamically …
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…
Frictional influences in tendon-driven robotic systems are generally unwanted, with efforts towards minimizing them where possible. In the human hand however, the tendon-pulley system is found to be frictional with a difference between…
We present a novel approach for studying the global dynamics of a vibro-impact pair, that is, a ball moving in a harmonically forced capsule. Motivated by a specific context of vibro-impact energy harvesting, we develop the method with…
Dexterous robotic hands often struggle to generalize effectively in complex environments due to the limitations of models trained on low-diversity data. However, the real world presents an inherently unbounded range of scenarios, making it…
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…
Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Grasp User Interfaces (grasp UIs) enable dual-tasking in XR by allowing interaction with digital content while holding physical objects. However, current grasp UI design practices face a fundamental challenge: existing approaches either…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a voxel-based 3D convolutional neural network to predict grasp success probability as a function of both visual information…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
In robotics, it's crucial to understand object deformation during tactile interactions. A precise understanding of deformation can elevate robotic simulations and have broad implications across different industries. We introduce a method…
Hands are used for communicating with the surrounding environment and have a complex structure that enables them to perform various tasks with their multiple degrees of freedom. Hand amputation can prevent a person from performing their…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…