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

Automating chicken shoulder deboning requires precise 6-DoF cutting through a partially occluded, deformable, multi-material joint, since contact with the bones presents serious health and safety risks. Our work makes both systems-level and…

Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…

Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal is to create a sauce plating robot, which requires precise…

Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

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…

High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…

Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates…

Microrobotics is an attractive area of research as small-scale robots have the potential to improve the precision and dexterity offered by minimally invasive surgeries. One example of such a tool is a pair of micro-surgical scissors that…

Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficulty of modelling and perception in a high-dimensional space.…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipulate. The challenge increases with cable length: long cables…

Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups. Deformable foods necessitate different skewering…

Purpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and…

Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inherent in coordinating a high-dimensional bimanual system. In…

Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…

Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…

During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…