Related papers: Phy-Tac: Toward Human-Like Grasping via Physics-Co…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic hands, even though acquiring such tactile and kinesthetic…

Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

Robots are expected to grasp a wide range of objects varying in shape, weight or material type. Providing robots with tactile capabilities similar to humans is thus essential for applications involving human-to-robot or robot-to-robot…

High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…

Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

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…

Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

Robotic grasping is a fundamental aspect of robot functionality, defining how robots interact with objects. Despite substantial progress, its generalizability to counter-intuitive or long-tailed scenarios, such as objects with uncommon…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…