Related papers: Simultaneous estimation of contact position and to…
Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Estimation of interactive forces, which are mostly unavailable for direct measurement on the interface between a system and its environment, is an essential task in various motion control applications. This paper proposes an interactive…
In this paper, it is presented a methodology to estimate the deformation involved between two objects attending to its physical properties. This methodology can be used, for example, in Computational Vision or Computer Graphics…
Multi-object state estimation is a fundamental problem for robotic applications where a robot must interact with other moving objects. Typically, other objects' relevant state features are not directly observable, and must instead be…
Understanding physical relations between objects, especially their support relations, is crucial for robotic manipulation. There has been work on reasoning about support relations and structural stability of simple configurations in RGB-D…
We study the problem of rapidly identifying contact dynamics of unknown objects in partially known environments. The key innovation of our method is a novel formulation of the contact dynamics estimation problem as the joint estimation of…
Articulated hand pose estimation is a challenging task for human-computer interaction. The state-of-the-art hand pose estimation algorithms work only with one or a few subjects for which they have been calibrated or trained. Particularly,…
Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The problem of hand shape classification is challenging since a hand is characterized by a large number of degrees of freedom. Numerous shape descriptors have been proposed and applied over the years to estimate and classify hand poses in…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…