相关论文: Sensorized gripper for human demonstrations

Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…

This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…

Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

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…

Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…

Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…

Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary…

For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…

This paper studies robustness in planar grasping from a geometric perspective. By treating grasping as a process that shapes the free-space of an object over time, we can define three types of certificates to guarantee success of a grasp:…

The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…

A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…

Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…

We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…

Multi-fingered robotic grasping is an undeniable stepping stone to universal picking and dexterous manipulation. Yet, multi-fingered grippers remain challenging to control because of their rich nonsmooth contact dynamics or because of…

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…