相关论文: A Planar-Symmetric SO(3) Representation for Learni…

This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel…

Detecting symmetry is crucial for effective object grasping for several reasons. Recognizing symmetrical features or axes within an object helps in developing efficient grasp strategies, as grasping along these axes typically results in a…

Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…

Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…

3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…

Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…

This paper presents a novel approach for the automatic offline grasp pose synthesis on known rigid objects for parallel jaw grippers. We use several criteria such as gripper stroke, surface friction, and a collision check to determine…

Single image pose estimation is a fundamental problem in many vision and robotics tasks, and existing deep learning approaches suffer by not completely modeling and handling: i) uncertainty about the predictions, and ii) symmetric objects…

Deep learning is an established framework for learning hierarchical data representations. While compute power is in abundance, one of the main challenges in applying this framework to robotic grasping has been obtaining the amount of data…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

We propose GAGrasp, a novel framework for dexterous grasp generation that leverages geometric algebra representations to enforce equivariance to SE(3) transformations. By encoding the SE(3) symmetry constraint directly into the…

Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…

Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…

We consider the problem of learning a common representation for dexterous manipulation across manipulators of different morphologies. To this end, we propose PCHands, a novel approach for extracting hand postural synergies from a large set…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Synthesizing 3D whole bodies that realistically grasp objects is useful for animation, mixed reality, and robotics. This is challenging, because the hands and body need to look natural w.r.t. each other, the grasped object, as well as the…

In haptic object discrimination, the effect of gripper embodiment, action parameters, and sensory channels has not been systematically studied. We used two anthropomorphic hands and two 2-finger grippers to grasp two sets of deformable…

Generating stable and robust grasps on arbitrary objects is critical for dexterous robotic hands, marking a significant step towards advanced dexterous manipulation. Previous studies have mostly focused on improving differentiable grasping…