相关论文: Sashimi-Bot: Autonomous Tri-manual Advanced Manipu…

Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…

This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…

Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy…

Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to 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 grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…

For robots to become efficient helpers in the home, they must learn to perform new mobile manipulation tasks simply by watching humans perform them. Learning from a single video demonstration from a human is challenging as the robot needs…

Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…

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…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…

Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics…

The COVID-19 pandemic has revealed the importance of digital fabrication to enable online learning, which remains a challenge for robotics courses. We introduce a teaching methodology that allows students to participate remotely in a…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

Large-scale controllable 3D assets are critical for computer graphics, embodied AI, robotics, and interactive content creation, yet creating diverse 3D assets remains challenging due to the high cost of manual modeling and rigging. Shape…

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…

Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…

In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…