相关论文: Optimal Robotic Velcro Peeling with Force Feedback
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
In this article, we study the problem of selecting a grasping pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability, (ii) torque effort…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
This paper provides an analytical solution for the deformation of an elastic half-space caused by a cylindrical roller. The roller is considered rigid, and is forced into the half space and rolls across its surface, with contact modelled by…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
The present work investigates the normal and tangential peeling behaviour of a gecko spatula using a coupled adhesion-friction model. The objective is to explain the strong attachment and easy detachment behaviour of the spatulae as well as…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notion of shape space and fibers to the system by exploiting its…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…
This paper presents an easy-to-control volume peeling method for multi-axis machining based on the computation taken on vector fields. The current scalar field based methods are not flexible and the vector-field based methods do not…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…