相关论文: Computing a Task-Dependent Grasp Metric Using Seco…
Reliable and accurate localization of mobile objects is essential for many applications in wireless networks. In range-based localization, the position of the object can be inferred using the distance measurements from wireless signals…
This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that…
Generating high-quality instance-wise grasp configurations provides critical information of how to grasp specific objects in a multi-object environment and is of high importance for robot manipulation tasks. This work proposed a novel…
Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
In this article, we study the problem of selecting a grasping pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability, (ii) torque effort…
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which relies on 3D models of objects and the gripper to estimate…
In this paper, we propose a new convergent conic programming hierarchy of relaxations involving both semi-definite cone and second-order cone constraints for solving nonconvex polynomial optimization problems to global optimality. The…
In this note we prove that the optimum value of a second-order cone program (SOCP) is convex in the right hand side (RHS) parameter.
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (IPCC), which allows contacts to happen between arbitrary…
Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their…
Grasping the same object in different postures is often necessary, especially when handling tools or stacked items. Due to unknown object properties and changes in grasping posture, the required grasping force is uncertain and variable.…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Task-oriented dexterous grasping remains challenging in robotic manipulations of open-world objects under severe partial observation, where significant missing data invalidates generic shape completion. In this paper, to overcome this…
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…
Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…
An important problem in tree breeding is optimal selection from candidate pedigree members to produce the highest performance in seed orchards, while conserving essential genetic diversity. The most beneficial members should contribute as…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…