Related papers: Integrative Wrapping System for a Dual-Arm Humanoi…
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.…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
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 of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
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…