相关论文: Lightweight High-Speed and High-Force Gripper for …
In industry assembly lines, parts feeding machines are widely employed as the prologue of the whole procedure. They play the role of sorting the parts randomly placed in bins to the state with specified pose. With the help of the parts…
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising solution to solve this issue. However, harvesting delicate…
Soft pneumatic actuators with integrated strain limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for…
We introduce a novel design of parallel-jaw grippers drawing inspiration from pin-pression toys. The proposed pin-pression gripper features a distinctive mechanism in which each finger integrates a 2D array of pins capable of independent…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…
Recently, magnetorheological elastomers have become an interesting smart material with many new designs for robotics. A variety of applications have been built with magnetorheological elastomers, such as vibration absorbers, actuators, or…
Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage to the objects. Humans can precisely achieve this by…
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…