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Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…
In this study, we investigate object grasping by visual servoing in a low-rigidity robot. It is difficult for a low-rigidity robot to handle its own body as intended compared to a rigid robot, and calibration between vision and body takes…
In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the underlying distribution of object properties necessary for…
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…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control,…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Inspired by widely used soft fingers on grasping, we propose a method of rigid-soft interactive learning, aiming at reducing the time of data collection. In this paper, we classify the interaction categories into Rigid-Rigid, Rigid-Soft,…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
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…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
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…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
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…