Related papers: Soft Manipulation Surface With Reduced Actuator De…
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…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Robotics hand/grippers nowadays are not limited to manufacturing lines; instead, they are widely utilized in cluttered environments, such as restaurants, farms, and warehouses. In such scenarios, they need to deal with high uncertainty of…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
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…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
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…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Inspired by widely used soft fingers on grasping, we propose a method of rigid-soft interactive learning, aiming at reducing the time of data collection. In this paper, we classify the interaction categories into Rigid-Rigid, Rigid-Soft,…
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…