Related papers: Steering Flexible Linear Objects in Planar Environ…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
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…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…