Related papers: Rigidity-Based Multi-Finger Coordination for Preci…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Accurate real-time tracking of dexterous hand movements and interactions has numerous applications in human-computer interaction, metaverse, robotics, and tele-health. Capturing realistic hand movements is challenging because of the large…
Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…
The human hand is an immensely sophisticated tool adept at manipulating and grasping objects of unknown characteristics. Its capability lies in perceiving interaction dynamics through touch and adjusting contact force direction and…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that combines a rigid fingernail, embedded distal phalanx, and compliant pulp to shape contact behavior during manipulation. \rrev{By mechanically organizing how…
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…
This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…
Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
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…
Manipulating clothing is challenging due to complex configurations, variable material dynamics, and frequent self-occlusion. Prior systems often flatten garments or assume visibility of key features. We present a dual-arm visuotactile…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…