相关论文: Emergent Hand Morphology and Control from Optimizi…

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…

One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as increasing flexibility in industrial processes or providing…

Grasp planning for multi-fingered hands is still a challenging task due to the high nonlinear quality metrics, the high dimensionality of hand posture configuration, and complex object shapes. Analytical-based grasp planning algorithms…

Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The…

The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…

Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…

Dexterous robotic hands often struggle to generalize effectively in complex environments due to the limitations of models trained on low-diversity data. However, the real world presents an inherently unbounded range of scenarios, making it…

We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…

Different manipulation tasks require different types of grasps. For example, holding a heavy tool like a hammer requires a multi-fingered power grasp offering stability, while holding a pen to write requires a multi-fingered precision grasp…

Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…

The intelligent behavior of robots does not emerge solely from control systems, but from the tight coupling between body and brain, a principle known as embodied intelligence. Designing soft robots that leverage this interaction remains a…

For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…

Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further adapting a successful manipulation skill to new objects with…

In evolutionary robotics, robot morphologies are designed automatically using evolutionary algorithms. This creates a body-brain optimization problem, where both morphology and control must be optimized together. A common approach is to…