Related papers: Proactive slip control by learned slip model and t…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Grip control during robotic in-hand manipulation is usually modeled as part of a monolithic task, relying on complex controllers specialized for specific situations. Such approaches do not generalize well and are difficult to apply to novel…
Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is…
Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…