相关论文: Precise Well-plate Placing Utilizing Contact Durin…
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects…
Scanning Probe Microscopy allows for extreme resolution down to the atomic scale. Unfortunately, total scanning range is rather limited, therefore finding a specific position on the sample is tedious. This is an important limitation of many…
Hand tracking is an important aspect of human-computer interaction and has a wide range of applications in extended reality devices. However, current hand motion capture methods suffer from various limitations. For instance, visual-based…
Atomically thin films and surfaces exhibit many distinctive two-dimensional electronic properties that are absent in bulk crystals. In situ microscale multi-probe measurements have been utilized as an effective method to identify the…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of touch/contact modality can aid in accurately localizing the…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
Microplate-based 'omic studies of large clinical cohorts can massively accelerate biomedical research, but experimental power and veracity may be negatively impacted when plate positional effects confound clinical variables of interest.…
In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any…
Robotic assembly of complex, non-convex geometries with tight clearances remains a challenging problem, demanding precise state estimation for successful insertion. In this work, we propose a novel framework that relies solely on contact…
Astrometry plays a crucial role in understanding the structure, dynamics, and evolution of celestial objects by providing precise measurements of their positions and motions. We propose a new approach to wide-field, relative astrometry,…
The temperature distribution in the battery significantly impacts the short-term and long-term performance of battery systems. Therefore, efficient, safe, and reliable battery system operation requires an accurate estimation of the…
We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. However, automating them, e.g., for high-throughput applications, does rarely involve…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…