相关论文: A Dexterous and Compliant Gripper With Soft Hydrau…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
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…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-degree-of-freedom (DoF) arm mounted on a quadrotor via a…
Achieving human-level dexterity in robotic hands remains a fundamental challenge for enabling versatile manipulation across diverse applications. This extended abstract presents BiDexHand, a cable-driven biomimetic robotic hand that…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing…
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy…
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach,…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes only uncalibrated proprioceptive information and shows…