相关论文: Four-Axis Adaptive Fingers Hand for Object Inserti…

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…

When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps…

Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…

Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…

Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…

This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…

Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects…

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…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…

This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…

This paper presents a novel underactuated adaptive robotic hand, Hockens-A Hand, which integrates the Hoeckens mechanism, a double-parallelogram linkage, and a specialized four-bar linkage to achieve three adaptive grasping modes: parallel…

This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…

In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…