Related papers: Dual Arm Steering of Deformable Linear Objects in …
Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…
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…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping…
Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushing objects against walls or moving them to the edge of a…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…
In this paper we derive a new model for visco-elasticity with large deformations where the independent variables are the stretch and the rotation tensors which intervene with second gradients terms accounting for physical properties in the…
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…
For dynamic manipulation of flexible objects, we propose an acquisition method of a flexible object motion equation model using a deep neural network and a control method to realize a target state by calculating an optimized time-series…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
The manipulation of deformable linear objects (DLOs) via model-based control requires an accurate and computationally efficient dynamics model. Yet, data-driven DLO dynamics models require large training data sets while their predictions…