相关论文: PaperBot: Learning to Design Real-World Tools Usin…

This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, which is hung with the top edge fixed. Due…

This paper tackles the task of singulating and grasping paper-like deformable objects. We refer to such tasks as paper-flipping. In contrast to manipulating deformable objects that lack compression strength (such as shirts and ropes), minor…

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…

Building robots is an engaging activity that provides opportunities for hands-on learning. However, traditional robot-building kits are usually costly with limited functionality due to material and technology constraints. To improve the…

Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…

This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…

Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…

Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…

Teaching and learning physical skills often require one-on-one interaction, making it difficult to scale up, as there are not enough human teachers. Robots offer an attractive alternative. This paper presents TeachingBot, an adaptive…

We reviewed 43 papers to understand the fabrication of dynamic paper-based interactions. We used a design space to classify tool selection, technique choice, and exploration of paper as a material. We classified 9 dimensions for the design…

Different manipulation tasks require different types of grasps. For example, holding a heavy tool like a hammer requires a multi-fingered power grasp offering stability, while holding a pen to write requires a multi-fingered precision grasp…

In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…

Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

The manual design of soft robots and their controllers is notoriously challenging, but it could be augmented---or, in some cases, entirely replaced---by automated design tools. Machine learning algorithms can automatically propose, test,…

This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

Cooking robots can enhance the home experience by reducing the burden of daily chores. However, these robots must perform their tasks dexterously and safely in shared human environments, especially when handling dangerous tools such as…

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…

Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…