Related papers: In-Hand Gravitational Pivoting Using Tactile Sensi…
Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…
We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical…
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects…
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…
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
The ability to predict the object the user intends to grasp offers essential contextual information and may help to leverage the effects of point-to-point latency in interactive environments. This paper explores the feasibility and accuracy…
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Tactile sensing is used by humans when grasping to prevent us dropping objects. One key facet of tactile sensing is slip detection, which allows a gripper to know when a grasp is failing and take action to prevent an object being dropped.…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus…