Related papers: Unknown Object Grasping for Assistive Robotics
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Waste Electrical and Electronic Equipment (WEEE) materials, in…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Flexible industrial production systems will play a central role in the future of manufacturing due to higher product individualization and customization. A key component in such systems is the robotic grasping of known or unknown objects in…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot interaction, handovers, or tool use. Prior work has focused…
This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more…