Related papers: Open Arms: Open-Source Arms, Hands & Control
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Each robot work cell is fully enclosed and features individual…
The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions vary from being small, accurate and highly controllable such…
Robotics hand/grippers nowadays are not limited to manufacturing lines; instead, they are widely utilized in cluttered environments, such as restaurants, farms, and warehouses. In such scenarios, they need to deal with high uncertainty of…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
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…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
In this study, we present an model-based approach to recognize full 26 degrees of freedom of a human hand. Input data include RGB-D images acquired from a Kinect camera and a 3D model of the hand constructed from its anatomy and graphical…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
We propose a real-time vision-based teleoperation approach for robotic arms that employs a single depth-based camera, exempting the user from the need for any wearable devices. By employing a natural user interface, this novel approach…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Robotic surgery has reached a high level of maturity and has become an integral part of standard surgical care. However, existing surgeon consoles are bulky, take up valuable space in the operating room, make surgical team coordination…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…