Related papers: Integrative Wrapping System for a Dual-Arm Humanoi…
Can robots mold soft plastic materials by shaping depth images? The short answer is no: current day robots can't. In this article, we address the problem of shaping plastic material with an anthropomorphic arm/hand robot, which observes the…
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…
A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about…
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…
This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…
Many objects in nature and industry are wrapped in a thin sheet to enhance their chemical, mechanical, or optical properties. There are similarly a variety of methods for wrapping, from pressing a film onto a hard substrate, to using…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…
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…