相关论文: ReefFlex: A Generative Design Framework for Soft R…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…
Fetal ultrasound (US) examinations require the acquisition of multiple planes, each providing unique diagnostic information to evaluate fetal development and screening for congenital anomalies. However, obtaining a comprehensive,…
The 3D shape of a robot's end-effector plays a critical role in determining it's functionality and overall performance. Many industrial applications rely on task-specific gripper designs to ensure the system's robustness and accuracy.…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
Limited by inference latency, existing robot manipulation policies lack sufficient real-time interaction capability with the environment. Although faster generation methods such as flow matching are gradually replacing diffusion methods,…
To fully utilize the versatility of a multi-fingered dexterous robotic hand for executing diverse object grasps, one must consider the rich physical constraints introduced by hand-object interaction and object geometry. We propose an…
In recent years generative design techniques have become firmly established in numerous applied fields, especially in engineering. These methods are demonstrating intensive growth owing to promising outlook. However, existing approaches are…
Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior arts focus on a specific type of robot hand, lacking the…
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…
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,…
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…
Grasp generation aims to create complex hand-object interactions with a specified object. While traditional approaches for hand generation have primarily focused on visibility and diversity under scene constraints, they tend to overlook the…
Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving…