相关论文: Recognizing Orientation Slip in Human Demonstratio…

Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…

This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…

This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Tactile sensing is used by humans when grasping to prevent us dropping objects. One key facet of tactile sensing is slip detection, which allows a gripper to know when a grasp is failing and take action to prevent an object being dropped.…

It is crucial for robots to be aware of the presence of constraints in order to acquire safe policies. However, explicitly specifying all constraints in an environment can be a challenging task. State-of-the-art constraint inference…

In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to…

Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article…

After a grasp has been planned, if the object orientation changes, the initial grasp may not have to be modified to accommodate the orientation change. For example, rotation of a cylinder by any amount around its centerline does not change…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despite the fact that contraction is a concept naturally suitable…

The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…

Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based…

Purpose: The purpose of this study was to investigate the psychophysical understanding of the slip stimulus. We emphasized that the perception of slip and its characteristics, such as slip distance and slip speed depend on the interaction…

Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…

Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predominantly been on the object's landing location, irrespective of…

Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…

Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…

Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…