相关论文: Generating Optimal Grasps Under A Stress-Minimizin…
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (IPCC), which allows contacts to happen between arbitrary…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
This paper studies robustness in planar grasping from a geometric perspective. By treating grasping as a process that shapes the free-space of an object over time, we can define three types of certificates to guarantee success of a grasp:…
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…
This paper describes a method for generating robot grasps by jointly considering stability and other task and object-specific constraints. We introduce a three-level representation that is acquired for each object class from a small number…
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more efficient and natural than relying solely on end-effectors…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
This paper is a survey work for a bigger project for designing a Visual SLAM robot to generate 3D dense map of an unknown unstructured environment. A lot of factors have to be considered while designing a SLAM robot. Sensing method of the…
[...] We argue that the traditional grasp modeling theory assumes a complexity that most robotic hands do not possess and is therefore of limited applicability to the robotic hands commonly used today. We discuss these limitations of the…
Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
Grasp force synthesis is a non-convex optimization problem involving constraints that are bilinear. Traditional approaches to this problem involve general-purpose gradient-based nonlinear optimization and semi-definite programming. With a…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To generalise the learned…
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable…
Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper lying flat on the desk, a series of nonprehensile pregrasp…
This paper explores the development of a control and sensor strategy for an industrial wearable wrist exoskeleton by classifying and predicting workers' actions. The study evaluates the correlation between exerted force and effort…