Related papers: Embodied Manipulation with Past and Future Morphol…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to investigate the physiological properties of human fingers…
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…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…
In nature, biological organisms jointly evolve both their morphology and their neurological capabilities to improve their chances for survival. Consequently, task information is encoded in both their brains and their bodies. In robotics,…
Physical embodiment is a required component for robots that are structurally coupled with their real-world environments. However, most socially interactive robots do not need to physically interact with their environments in order to…
It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…
Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and affordability. Existing control methods impose compromises on hand…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
Bimanual manipulation is a longstanding challenge in robotics due to the large number of degrees of freedom and the strict spatial and temporal synchronization required to generate meaningful behavior. Humans learn bimanual manipulation…