相关论文: 6DLS: Modeling Nonplanar Frictional Surface Contac…

Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…

A highly accurate, single-pass, unbiased frictional contact algorithm for higher-order elements based on the concept of midplane is presented. Higher-order elements offer a lucrative choice for contact problems as they can better represent…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have particularly useful applications in robotic locomotion and…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Non-prehensile manipulation is essential for handling thin, large, or otherwise ungraspable objects in unstructured settings. Prior planning and search-based methods often rely on ad-hoc manual designs or generate physically unrealizable…

Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…

In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…

While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the…

High-level robotic manipulation tasks demand flexible 6-DoF grasp estimation to serve as a basic function. Previous approaches either directly generate grasps from point-cloud data, suffering from challenges with small objects and sensor…

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…

Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling tool-environment interaction is difficult, especially when…

Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…

Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant…

Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…

Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot interaction, handovers, or tool use. Prior work has focused…

In this paper, we propose a learning-based framework for non-rigid shape registration without correspondence supervision. Traditional shape registration techniques typically rely on correspondences induced by extrinsic proximity, therefore…

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…