相关论文: Minimal Footprint Grasping Inspired by Ants
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in…
An automated prepreg fabric draping system is being developed which consists of an array of actuated grippers. It has the ability to pick up a fabric ply and place it onto a double-curved mold surface. A previous research effort based on a…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
The synthesis of tactile sensing with compliance is essential to many fields, from agricultural usages like fruit picking, to sustainability practices such as sorting recycling, to the creation of safe home-care robots for the elderly to…
Living systems are built of multiscale-composites: materials formed of components with different properties that are assembled in complex micro- and nano-structures. Such biological multiscale-composites often show outstanding physical…
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability, and cost-effectiveness. In this work, we present LVTG, a…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
The picking of one or more objects from an unsorted pile continues to be non-trivial for robotic systems. This is especially so when the pile consists of a granular material (GM) containing individual items that tangle with one another,…
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping…
Food waste management is critical for sustainability, yet inorganic contaminants hinder recycling potential. Robotic automation accelerates sorting through automated contaminant removal. Nevertheless, the diverse and unpredictable nature of…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…