相关论文: Heterogeneous object manipulation on nonlinear sof…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Articulated object manipulation poses a unique challenge compared to rigid object manipulation as the object itself represents a dynamic environment. In this work, we present a novel RL-based pipeline equipped with variable impedance…
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,…
Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We…
Robotic manipulation of rigid objects via deformable linear objects (DLO) such as ropes is an emerging field of research with applications in various rigid object transportation tasks. A few methods that exist in this field suffer from…
Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…
We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Non-contact manipulation has emerged as a transformative approach across various industrial fields. However, current flexible 2D and 3D non-contact manipulation techniques are often limited to microscopic scales, typically controlling…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…
Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…
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…
Deformable object manipulation has many applications such as cooking and laundry folding in our daily lives. Manipulating elastoplastic objects such as dough is particularly challenging because dough lacks a compact state representation and…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remains challenging because of the diverse articulation types of…
Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…