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When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…
Humans are capable of continuously manipulating a wide variety of deformable objects into complex shapes. This is made possible by our intuitive understanding of material properties and mechanics of the object, for reasoning about object…
Cooking robots can enhance the home experience by reducing the burden of daily chores. However, these robots must perform their tasks dexterously and safely in shared human environments, especially when handling dangerous tools such as…
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, which is hung with the top edge fixed. Due…
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Kirigami, the traditional paper-cutting craft, holds immense potential for revolutionizing robotics by providing multifunctional, lightweight, and adaptable solutions. Kirigami structures, characterized by their bending-dominated…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Labor shortages in the United States are impacting a number of industries including the meat processing sector. Collaborative technologies that work alongside humans while increasing production abilities may support the industry by…
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time…
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…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone…