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Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…