Related papers: TRIGGER: A Lightweight Universal Jamming Gripper f…

Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…

The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…

We present JetFormer, a versatile and scalable encoder-only Transformer architecture for particle jet tagging at the Large Hadron Collider (LHC). Unlike prior approaches that are often tailored to specific deployment regimes, JetFormer is…

This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper limb impairments. Operating within a collaborative grasping…

Wings of flying animals can not only generate lift and control torques but also can sense their surroundings. Such dual functions of sensing and actuation coupled in one element are particularly useful for small sized bio-inspired robotic…

This paper presents a novel cable-driven gripper with perception capabilities for autonomous harvesting of strawberries. Experiments show that the gripper allows for more accurate and faster picking of strawberries compared to existing…

Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose…

Many approaches to grasp synthesis optimize analytic quality metrics that measure grasp robustness based on finger placements and local surface geometry. However, generating feasible dexterous grasps by optimizing these metrics is slow,…

Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper…

The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…

This paper presents a new tool to perform various steps in jet tagger development in an efficient and comprehensive way. A common data structure is used for training, as well as for performance evaluation in data. The introduction of this…

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…

Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…

This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach,…

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…

This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmission logic. Unlike conventional multifunctional grippers that…

In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…

Real-world robotic systems frequently require diverse end-effectors for different tasks, however most existing grasp detection methods are optimized for a single gripper type, demanding retraining or optimization for each novel gripper…

Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors (e.g. vision, tactile) to gain information about the object, to building passively compliant hands that react appropriately…

Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. To address this, previous work has introduced pushing as an…