相关论文: In-Hand Gravitational Pivoting Using Tactile Sensi…

We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

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…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

Grip control during robotic in-hand manipulation is usually modeled as part of a monolithic task, relying on complex controllers specialized for specific situations. Such approaches do not generalize well and are difficult to apply to novel…

Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…

The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…

This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…

We present an adaptive grasping method that finds stable grasps on novel objects. The main contributions of this paper is in the computation of the probability of success of grasps in the vicinity of an already applied grasp. Our method…

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…

Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors (e.g. vision, tactile) to gain information about the object, to building passively compliant hands that react appropriately…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…

In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…

The ability to grasp and manipulate small objects in cluttered environments remains a significant challenge. This paper introduces a novel approach that utilizes a tactile sensor-equipped gripper with eight degrees of freedom to overcome…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…

Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…