相关论文: ReefFlex: A Generative Design Framework for Soft R…
When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. We propose a novel method for quantifying and representing…
Customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the grasp robustness. However, grasp planning for customized grippers is challenging due to the object variations, surface…
Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…
Autonomous repair of deep-sea coral reefs is a recent proposed idea to support the oceans ecosystem in which is vital for commercial fishing, tourism and other species. This idea can be operated through using many small autonomous…
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…
Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
The availability of data is limited in some fields, especially for object detection tasks, where it is necessary to have correctly labeled bounding boxes around each object. A notable example of such data scarcity is found in the domain of…
Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. In this work, we propose BiDexGrasp, consists of a…
There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to control their depth and pose. AUVs utilizing thrusters can be…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Simulation plays a key role in scaling robot learning and validating policies, but constructing simulations remains a labor-intensive process. This paper introduces ReGen, a generative simulation framework that automates simulation design…
We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…