相关论文: The Hand-object Kinematic Model for Bimanual Manip…

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,…

A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin…

Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…

Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…

In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…

Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…

A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…

Previous learning based hand pose estimation methods does not fully exploit the prior information in hand model geometry. Instead, they usually rely a separate model fitting step to generate valid hand poses. Such a post processing is…

Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the…

Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…

Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…