相关论文: The Multi-fingered Kinematic Model for Dual-arm Ma…

Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators. However, such hands pose a major challenge for autonomous control, due to…

This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…

In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. Therefore, this study presents a framework…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

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…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

This paper presents a novel deep learning framework for robotic arm manipulation that integrates multimodal inputs using a late-fusion strategy. Unlike traditional end-to-end or reinforcement learning approaches, our method processes image…

Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…

The goal of this paper is to develop efficient regrasp algorithms for single-arm and dual-arm regrasp and compares the performance of single-arm and dual-arm regrasp by running the two algorithms thousands of times. We focus on…

Manipulating articulated tools, such as tweezers or scissors, has rarely been explored in previous research. Unlike rigid tools, articulated tools change their shape dynamically, creating unique challenges for dexterous robotic hands. In…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

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…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…

The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…

Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…

Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high…