相关论文: In-Hand Object Rotation via Rapid Motor Adaptation

Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand…

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…

The strength of the human hand lies in its ability to manipulate small objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle small objects effectively. This is why many automation tasks…

In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach combines reinforcement learning based on visual perception…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…

Estimating hand-object manipulations is essential for interpreting and imitating human actions. Previous work has made significant progress towards reconstruction of hand poses and object shapes in isolation. Yet, reconstructing hands and…

Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each new task requires substantial human effort, such as careful…

Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…

Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic,…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Achieving generalized in-hand object rotation remains a significant challenge in robotics, largely due to the difficulty of transferring policies from simulation to the real world. The complex, contact-rich dynamics of dexterous…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…