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Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
Applying suction grippers in unstructured environments is a challenging task because of depth and tilt errors in vision systems, requiring additional costs in elaborate sensing and control. To reduce additional costs, suction grippers with…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
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…
This paper presents the SP-Diff parallel gripper system, addressing the limited adaptability of conventional end-effectors in intelligent industrial automation. The proposed design employs an innovative differential linkage mechanism with a…
Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…
As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…
Non-prehensile manipulation is essential for handling thin, large, or otherwise ungraspable objects in unstructured settings. Prior planning and search-based methods often rely on ad-hoc manual designs or generate physically unrealizable…
This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping…
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rigid environments and mechanisms only, or if they include…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions vary from being small, accurate and highly controllable such…