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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.…
Wire harnesses are essential connecting components in manufacturing industry but are challenging to be automated in industrial tasks such as bin picking. They are long, flexible and tend to get entangled when randomly placed in a bin. This…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…
Wire harnesses are essential hardware for electronic systems in modern automotive vehicles. With a shift in the automotive industry towards electrification and autonomous driving, more and more automotive electronics are responsible for…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
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…
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,…
Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and insertion of plugs, as well as the manipulation of cables, have…
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…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
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.…
Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…