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Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…

Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper…

Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…

Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…

This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…

Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…

Parallel programs require software support to coordinate access to shared data. For this purpose, modern programming languages provide strongly-consistent shared objects. To account for their many usages, these objects offer a large API.…

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 paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…

Setting up robot environments to quickly test newly developed algorithms is still a difficult and time consuming process. This presents a significant hurdle to researchers interested in performing real-world robotic experiments. RobotIO is…

Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace: such as picking objects off the ground. However, achieving these capabilities on real…

Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…

In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

When your robot grasps an object using dexterous hands or grippers, it should understand the Task-Oriented Affordances of the Object(TOAO), as different tasks often require attention to specific parts of the object. To address this…

3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…

Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…

Swarm User Interfaces allow dynamic arrangement of user environments through the use of multiple mobile robots, but their operational range is typically confined to a single plane due to constraints imposed by their two-wheel propulsion…