相关论文: Contact-Rich Manipulation of a Flexible Object bas…
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…
Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively…
Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…