Related papers: Tactile-Driven Non-Prehensile Object Manipulation …
The ability to grasp and manipulate small objects in cluttered environments remains a significant challenge. This paper introduces a novel approach that utilizes a tactile sensor-equipped gripper with eight degrees of freedom to overcome…
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
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 the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
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…
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…