Related papers: PaperBot: Learning to Design Real-World Tools Usin…
This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous…
Bagging is an essential skill that humans perform in their daily activities. However, deformable objects, such as bags, are complex for robots to manipulate. This paper presents an efficient learning-based framework that enables robots to…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly while introducing new complexities into the design process.…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
Learning instead of designing robot controllers can greatly reduce engineering effort required, while also emphasizing robustness. Despite considerable progress in simulation, applying learning directly in hardware is still challenging, in…
Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy, and to survive in dynamic, uncertain environments. In this work, a scenario is presented where a robot has limited…
Digitalization is changing the nature of tools and materials, which are used in artistic practices in professional and non-professional settings. For example, today it is common that even children express their ideas and explore their…
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
The success of reinforcement learning for real world robotics has been, in many cases limited to instrumented laboratory scenarios, often requiring arduous human effort and oversight to enable continuous learning. In this work, we discuss…
Educational robots allow experimenting with a variety of principles from mechanics, electronics, and informatics. Here we propose ClipBot, a low-cost, do-it-yourself, robot whose skeleton is made of two paper clips. An Arduino nano…
AI-based design tools are proliferating in professional software to assist engineering and industrial designers in complex manufacturing and design tasks. These tools take on more agentic roles than traditional computer-aided design tools…
From construction materials, such as sand or asphalt, to kitchen ingredients, like rice, sugar, or salt; the world is full of granular materials. Despite impressive progress in robotic manipulation, manipulating and interacting with…
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…
The 3D shape of a robot's end-effector plays a critical role in determining it's functionality and overall performance. Many industrial applications rely on task-specific gripper designs to ensure the system's robustness and accuracy.…
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not affordable for real-time implementations. Traditional planning…