Related papers: T-DOM: A Taxonomy for Robotic Manipulation of Defo…
The possibility for humans to interact with physical or virtual systems using gestures has been vastly explored by researchers and designers in the last twenty years to provide new and intuitive interaction modalities. Unfortunately, the…
In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to…
To represent motions from a mechanical point of view, this paper explores motion embedding using the motion taxonomy. With this taxonomy, manipulations can be described and represented as binary strings called motion codes. Motion codes…
Robotic manipulation of deformable, one-dimensional objects (DOOs) like ropes or cables has important potential applications in manufacturing, agriculture, and surgery. In such environments, the task may involve threading through or…
Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deformable objects. In this work, we contribute a simulation…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
Robots in our daily surroundings are increasing day by day. Their usability and acceptability largely depend on their explicit and implicit interaction capability with fellow human beings. As a result, social behavior is one of the most…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
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…
In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating…
Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. However, these parameters are not available a-priori in situations…
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…