Related papers: A Precise Real-Time Force-Aware Grasping System fo…
Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…
Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
This work presents a perception system applied to robotic manipulation, that is able to assist in navigation, household waste classification and collection in outdoor environments. This system is made up of optical tactile sensors, RGBD…
Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Despite the potential the ability to identify granular materials creates for applications such as robotic cooking or earthmoving, granular material identification remains a challenging area, existing methods mostly relying on shaking the…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…