Related papers: F1 Hand: A Versatile Fixed-Finger Gripper for Deli…
A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate for…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose…
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…
We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand. We introduce a novel single-camera teleoperation system to collect…
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Human hands are able to grasp a wide range of object sizes, shapes, and weights, achieved via reshaping and altering their apparent grasping stiffness between compliant power and rigid precision. Achieving similar versatility in robotic…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…