Related papers: Loop closure grasping: Topological transformations…
This paper formally defines a robot system, including its sensing and actuation components, as a general, topological dynamical system. The focus is on determining general conditions under which various environments in which the robot can…
Unlike conventional mechanisms, compliant mechanisms produce the desired deformations by exploiting elastic strain and do not need, therefore, moving parts. The number of degrees of freedom of a conventional mechanism, also called mobility,…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Collecting manipulation demonstrations with robotic hardware is tedious - and thus difficult to scale. Recording data on robot hardware ensures that it is in the appropriate format for Learning from Demonstrations (LfD) methods. By…
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,…
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for…
Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
The topological mechanics is a perfect tool that can bridge the gap between the quantum and Newtonian physics and mechanics of materials. It requires discrete models of the material with analogies with the topological characteristics of…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
Loop closure, as one of the crucial components in SLAM, plays an essential role in correcting the accumulated errors. Traditional appearance-based methods, such as bag-of-words models, are often limited by local 2D features and the volume…