Related papers: Robot Grasping and Manipulation: A Prospective
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…
Humans naturally build mental models of object interactions and dynamics, allowing them to imagine how their surroundings will change if they take a certain action. While generative models today have shown impressive results on…
Concerns over the risks associated with advances in Artificial Intelligence have prompted calls for greater efforts toward robust and beneficial AI, including machine ethics. Recently, roboticists have responded by initiating the…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
Robotic grasping refers to making a robotic system pick an object by applying forces and torques on its surface. Many recent studies use data-driven approaches to address grasping, but the sparse reward nature of this task made the learning…
Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
The presentation of a robot's capability and identity directly influences a human collaborator's perception and implicit trust in the robot. Unlike humans, a physical robot can simultaneously present different identities and have them…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only,…
Robots are often shipped insecure and in some cases fully unprotected. The rationale behind is fourfold: first, defensive security mechanisms for robots are still on their early stages, not covering the complete threat landscape. Second,…
Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to…