相关论文: Tendon-Driven Soft Robotic Gripper for Berry Harve…
In this paper, we explore the use of a soft gripper, specifically a soft inverting-everting toroidal hydrostat, as a prosthetic hand. We present a design of the gripper integrated into a body-powered elbow-driven system and evaluate its…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems, the complex terrain and dense canopy make the data…
The ability to grasp and manipulate small objects in cluttered environments remains a significant challenge. This paper introduces a novel approach that utilizes a tactile sensor-equipped gripper with eight degrees of freedom to overcome…
In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable…
Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on a single deterministic shape estimate unreliable. From a…
We present a novel underactued humanoid five finger soft hand, the KIT \softhand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the…
Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labour are driving factors that can help encourage user acceptability of robotic…
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…
Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. The underactuated device provides active…
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…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…