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Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…
As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
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…
This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary…
This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. Prior methods typically decompose the task into two…
In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…