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The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
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,…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction…
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…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situations common in real-world tool use. Existing methods largely…
Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
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…
This thesis presents a two-layer uniform facet elastic object for real-time simulation based on physics modeling method. It describes the elastic object procedural modeling algorithm with particle system from the simplest one-dimensional…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…