相关论文: Dual-arm Coordinated Manipulation for Object Twist…

When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the…

Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…

Dextrous in-hand manipulation with a multi-fingered robotic hand is a challenging task, esp. when performed with the hand oriented upside down, demanding permanent force-closure, and when no external sensors are used. For the task of…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and…

In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

Long-horizon dexterous robot manipulation of deformable objects, such as banana peeling, is a problematic task because of the difficulties in object modeling and a lack of knowledge about stable and dexterous manipulation skills. This paper…

In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…

We address the problem of safely solving complex bimanual robot manipulation tasks with sparse rewards. Such challenging tasks can be decomposed into sub-tasks that are accomplishable by different robots concurrently or sequentially for…

In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…

Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…

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,…

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…