相关论文: Adaptive Wiping: Adaptive contact-rich manipulatio…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…

Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…

In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the underlying distribution of object properties necessary for…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…

The increasing demand for accelerated scientific discovery, driven by global challenges, highlights the need for advanced AI-driven robotics. Deploying robotic chemists in human-centric labs is key for the next horizon of autonomous…

The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control,…

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…

Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…

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…

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…

Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…