相关论文: A Closed-Loop Bin Picking System for Entangled Wir…

A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…

High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…

This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…

Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art mobile manipulators from widespread real-world deployments,…

When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. Mechanical Search…

This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…

Robotic manipulation of deformable, one-dimensional objects (DOOs) like ropes or cables has important potential applications in manufacturing, agriculture, and surgery. In such environments, the task may involve threading through or…

We propose a Deep Reinforcement Learning (Deep RL) algorithm for solving the online 3D bin packing problem for an arbitrary number of bins and any bin size. The focus is on producing decisions that can be physically implemented by a robotic…

Grasping is the dominant approach for robot manipulation, but only a single object can be grasped at a time. Nonprehensile manipulation offers richer set of interactions, however state-of-the-art is limited to using the end-effector only.…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…

Autonomous bin picking poses significant challenges to vision-driven robotic systems given the complexity of the problem, ranging from various sensor modalities, to highly entangled object layouts, to diverse item properties and gripper…

Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…

In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…

Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…

We address the bin packing problem (BPP), which aims to maximize bin utilization when packing a variety of items. The offline problem, where the complete information about the item set and their sizes is known in advance, is proven to be…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…