相关论文: Contact-Aware Non-prehensile Robotic Manipulation …

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…

Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such trajectories are unsuitable for delicate grasping, which require…

The automation of warehouse operations is crucial for improving productivity and reducing human exposure to hazardous environments. One operation frequently performed in warehouses is bin-packing where items need to be placed into…

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…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…

Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…

For robots to be able to manipulate in unknown and unstructured environments the robot should be capable of operating under partial observability of the environment. Object occlusions and unmodeled environments are some of the factors that…

Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

In this paper, we present a novel method for achieving dexterous manipulation of complex objects, while simultaneously securing the object without the use of passive support surfaces. We posit that a key difficulty for training such…

This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…

Dexterous grasping in cluttered environments presents substantial challenges due to the high degrees of freedom of dexterous hands, occlusion, and potential collisions arising from diverse object geometries and complex layouts. To address…

Object transportation in cluttered environments is a fundamental task in various domains, including domestic service and warehouse logistics. In cooperative object transport, multiple robots must coordinate to move objects that are too…

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…

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…

Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…

Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…