Related papers: Industrial Cabling in Constrained Environments: a …
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a…
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…
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…
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…
We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often reliant on dual-robot arms or tactile sensing, face…
Manipulating cables is challenging for robots because of the infinite degrees of freedom of the cables and frequent occlusion by the gripper and the environment. These challenges are further complicated by the dexterous nature of the…
Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…
Robotic manipulation of deformable, one-dimensional objects (DOOs) like ropes or cables has important potential applications in manufacturing, agriculture, and surgery. In such environments, the task may involve threading through or…
Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. However, unlike dexterous manipulation of rigid objects, the…
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically…
This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement.…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2)…
Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…