Related papers: Grasping Object: Challenges and Innovations in Rob…
Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Grasping an object is a matter of first moving a prehensile organ at some position in the world, and then managing the contact relationship between the prehensile organ and the object. Once the contact relationship has been established and…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Virtual reality (VR) has been increasingly utilised as a simulation tool for human-robot interaction (HRI) studies due to its ability to facilitate fast and flexible prototyping. Despite efforts to achieve high validity in VR studies,…
The verification of successful grasps is a crucial aspect of robot manipulation, particularly when handling deformable objects. Traditional methods relying on force and tactile sensors often struggle with deformable and non-rigid objects.…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…
We can create Virtual Reality (VR) interactions that have no equivalent in the real world by remapping spacetime or altering users' body representation, such as stretching the user's virtual arm for manipulation of distant objects or…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Robotic Grasping has always been an active topic in robotics since grasping is one of the fundamental but most challenging skills of robots. It demands the coordination of robotic perception, planning, and control for robustness and…
We present a benchmarking study of vision-based robotic grasping algorithms with distinct approaches, and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing…
Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…
Leveraging the integration of visual and proprioceptive cues, research has uncovered various perception thresholds in VR that can be exploited to support haptic feedback for grasping. While previous studies have explored individual…
What is Virtual Reality? A professional tool, made to facilitate our everyday tasks? A conceptual mistake, accompanied by cybersickness and unsolved locomotion issues since the very beginning? Or just another source of entertainment that…
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…
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…
Human-Robot Interaction (HRI) has become increasingly important as robots are being integrated into various aspects of daily life. One key aspect of HRI is gesture recognition, which allows robots to interpret and respond to human gestures…