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The seafood processing industry provides fertile ground for robotics to impact the future-of-work from multiple perspectives including productivity, worker safety, and quality of work life. The robotics research challenge is the realization…
Assistive robot arms have the potential to help disabled or elderly adults eat everyday meals without relying on a caregiver. To provide meaningful assistance, these robots must reach for food items, pick them up, and then carry them to the…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
For millions of adults with mobility limitations, eating meals is a daily challenge. A variety of robotic systems have been developed to address this societal need. Unfortunately, end-user adoption of robot-assisted feeding is limited, in…
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…
SODA aims to revolutionize assistive feeding systems by designing a multi-purpose utensil using origami-inspired artificial muscles. Traditional utensils, such as forks and spoons,are hard and stiff, causing discomfort and fear among users,…
Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the development of manipulation algorithms. The existing grasp and…
Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steering of a pre-trained whole-body control…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…