相关论文: Minimal Footprint Grasping Inspired by Ants
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…
Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
Dexterous manipulation requires planning a grasp configuration suited to the object and task, which is then executed through coordinated multi-finger control. However, specifying grasp plans with dense pose or contact targets for every…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
Locomotion emerges from effective interactions of an individual with its environment. Principles of biological terrestrial locomotion have been discovered on unconfined vertical and horizontal substrates. However a diversity of organisms…
While there have been significant strides in dexterous manipulation, most of it is limited to benchmark tasks like in-hand reorientation which are of limited utility in the real world. The main benefit of dexterous hands over two-fingered…
Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…
Animals such as insects have provided a rich source of inspiration for designing robots. For example, animals navigate to goals via efficient coordination of individual motor actions, and demonstrate natural solutions to problems also faced…
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can…