Related papers: Lattice-based shape tracking and servoing of elast…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
Modeling and manipulating elasto-plastic objects are essential capabilities for robots to perform complex industrial and household interaction tasks (e.g., stuffing dumplings, rolling sushi, and making pottery). However, due to the high…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Deformation estimation of elastic object assuming an internal organ is important for the computer navigation of surgery. The aim of this study is to estimate the deformation of an entire three-dimensional elastic object using displacement…
Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…
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…
Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…
Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
A chaser satellite equipped with robotic arms can capture space debris and manipulate it for use in more advanced missions such as refueling and deorbiting. To facilitate capturing, a caging-based strategy has been proposed to simplify the…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…