Related papers: A Closed-Loop Bin Picking System for Entangled Wir…
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…
Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inherent in coordinating a high-dimensional bimanual system. In…
This paper addresses the challenges of automating vibratory sieve shaker operations in a materials laboratory, focusing on three critical tasks: 1) dual-arm lid manipulation in 3 cm clearance spaces, 2) bimanual handover in overlapping…
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…
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…
Entangled matter provides intriguing perspectives in terms of deformation mechanisms, mechanical properties, assembly and disassembly. However, collective entanglement mechanisms are complex, occur over multiple length scales, and they are…
We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
In this research, we tackle the problem of picking an object from randomly stacked pile. Since complex physical phenomena of contact among objects and fingers makes it difficult to perform the bin-picking with high success rate, we consider…
Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between…
In this work, we delve into the intricate synergy among non-prehensile actions like pushing, and prehensile actions such as grasping and throwing, within the domain of robotic manipulation. We introduce an innovative approach to learning…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric folding manipulation first involves obtaining a smooth and unfolded fabric…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…