Related papers: An Adaptive Grasping Force Tracking Strategy for N…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…
Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; e.g.,…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
We consider the optimization of the vector of grasping forces that support a known generalized force acting on the grasped object---a rigid body or a mechanism. Working in the framework of finite-dimensional normed vector spaces and their…
The paper proposes an adaptive observer of the state vector of a nonlinear time varying system based on measurements of the output variable. The problem is solved under the assumption that the control matrix (vector) and the nonlinear…
Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article…
Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
In many practical settings one can sequentially and adaptively guide the collection of future data, based on information extracted from data collected previously. These sequential data collection procedures are known by different names,…
A key challenge in lifelong reinforcement learning (RL) is the loss of plasticity, where previous learning progress hinders an agent's adaptation to new tasks. While regularization and resetting can help, they require precise hyperparameter…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…
The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…
Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…