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We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
Given the laborious difficulty of moving heavy bags of physical currency in the cash center of the bank, there is a large demand for training and deploying safe autonomous systems capable of conducting such tasks in a collaborative…
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
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…
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
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 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…
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
Aerial transportation requires a simple yet reliable gripper for picking and placing objects of interest. In this work, we design an aerial gripper for passive grasping and impulsive release of ferrous coated objects. Permanent magnets are…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…