相关论文: Development of a Multi-Fingered Soft Gripper Digit…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Digital Twins have been described as beneficial in many areas, such as virtual commissioning, fault prediction or reconfiguration planning. Equipping Digital Twins with artificial intelligence functionalities can greatly expand those…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
Robotics has gained attention in the nuclear industry due to its precision and ability to automate tasks. However, there is a critical need for advanced simulation and control methods to predict robot behavior and optimize plant…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
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…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…
This paper examines a robust data-driven approach for the safe deployment of systems with nonlinear dynamics using their imperfect digital twins. Our contribution involves proposing a method that fuses the digital twin's nominal trajectory…
Transfer learning is a popular approach to bypassing data limitations in one domain by leveraging data from another domain. This is especially useful in robotics, as it allows practitioners to reduce data collection with physical robots,…
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…
Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets tailored for dual-arm settings remain scarce. We introduce a…
This paper presents the development of a calibrated digital twin of a wheel loader. A calibrated digital twin integrates a construction vehicle with a high-fidelity digital model allowing for automated diagnostics and optimization of…
Many industrial processes require suitable controllers to meet their performance requirements. More often, a sophisticated digital twin is available, which is a highly complex model that is a virtual representation of a given physical…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…