Related papers: MiniBEE: A New Form Factor for Compact Bimanual De…
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in robotics. Learning such long-horizon,…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the…
Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, generative models have emerged as a promising paradigm,…
Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This…
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…
This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…
Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or…
Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Bimanual manipulation needs robots to be sensitive on the grasp force which is hard to be accurately detected. This paper proposes RL framework for enhancing the grasp quality during the bimanual manipulation. This framework is based on…
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-arm robots, however, are widely available in research labs.…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…
Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer…
In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…