相关论文: Shear-based Grasp Control for Multi-fingered Under…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…