Related papers: Picking by Tilting: In-Hand Manipulation for Objec…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
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-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…
In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without…
Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its…
We report on the teleoperation system DronePick which provides remote object picking and delivery by a human-controlled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic…
Building on recent advancements in transformer based approaches for domestic robots performing knolling, the art of organizing scattered items into neat arrangements. This paper introduces Knolling bot 2.0. Recognizing the challenges posed…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a…
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…
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…