相关论文: Leaf-like Origami with Bistability for Self-Adapti…
Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using…
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…
We investigate the absorption properties of graphene-based anisotropic metamaterial structures where the metamaterial layer possesses an electromagnetic response corresponding to a near-zero permittivity. We find that through analytical and…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Propagating transition fronts, in which local interactions sequentially trigger state changes, are widely observed across natural, biological, and engineered systems. While such propagation has been engineered using energy-driven…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…
Manipulating deformable objects, such as ropes and clothing, is a long-standing challenge in robotics, because of their large degrees of freedom, complex non-linear dynamics, and self-occlusion in visual perception. The key difficulty is a…
This paper tackles the task of singulating and grasping paper-like deformable objects. We refer to such tasks as paper-flipping. In contrast to manipulating deformable objects that lack compression strength (such as shirts and ropes), minor…
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a…
The field of rigid origami concerns the folding of stiff, inelastic plates of material along crease lines that act like hinges and form a straight-line planar graph, called the crease pattern of the origami. Crease pattern vertices in the…
Human ability of both versatile grasping of given objects and grasping of novel (as of yet unseen) objects is truly remarkable. This probably arises from the experience infants gather by actively playing around with diverse objects.…
In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid…
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…
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose generation. However, they either overlooked the importance of…
A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…
Self-folding origami has emerged as a tool to make functional objects in material science. The common idea is to pattern a sheet with creases and activate them to have the object fold spontaneously into a desired configuration. This article…