相关论文: Volumetric-based Contact Point Detection for 7-DoF…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
We introduce a fast and robust algorithm for finding a plane $\Gamma$ with given normal $\vec{n}_\Gamma$, which truncates an arbitrary polyhedron $\mathcal{P}$ such that the remaining sub-polyhedron admits a given volume…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets…
Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…
In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing partial point clouds derived from depth image often suffer…
We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…
In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during…
General robotic grippers are challenging to control because of their rich nonsmooth contact dynamics and the many sources of uncertainties due to the environment or sensor noise. In this work, we demonstrate how to compute 6-DoF grasp poses…
Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive and inaccessible to most consumers. In addition, grasp…
Assistive robotic grasping plays an important role in enabling safe and adaptive manipulation of diverse objects. However, existing systems often rely on electronic sensing and multi-stage processing pipelines, increasing system complexity…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
We introduce a PDE-based node-to-element contact formulation as an alternative to classical, purely geometrical formulations. It is challenging to devise solutions to nonsmooth contact problem with continuous gap using finite element…