相关论文: ROSE: Rotation-based Squeezing Robotic Gripper tow…
A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate for…
Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Agricultural robotics and automation are facing some challenges rooted in the high variability 9 of products, task complexity, crop quality requirement, and dense vegetation. Such a set of 10 challenges demands a more versatile and safe…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling this contact can…
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right…
We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping…
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we…
Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Waste Electrical and Electronic Equipment (WEEE) materials, in…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…
Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…