9 accepted papers
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit robot model or proprioceptive sensing. At the core of our appro
Achieving controlled sliding of objects on finger surfaces is a significant challenge for robots, substantially constraining their ability to perform complex in-hand manipulation tasks. In this work, we investigate the role of surface vibration in modulating the effective friction at the object-fing
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to estimate the physical properties of such objects, which may vary…
Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared among different research groups. However, the existing object sets are very
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of identical real robot setups and facilitate remote experiments of
This paper discusses recent research progress in robotic grasping and manipulation in the light of the latest Robotic Grasping and Manipulation Competitions (RGMCs). We first provide an overview of past benchmarks and competitions related to the robotics manipulation field. Then, we discuss the meth
The papers in this special section focus on benchmarking protocols for robotic manipulation. Benchmarks are crucial for analyzing the effectiveness of an approach against a common basis, providing a quantitative means for interpreting performance. Carefully designed and widely recognized benchmarks
In this work, we propose a pick-and-place benchmark to assess the manipulation capabilities of a robotic system. The benchmark is based on the Box and Blocks Test (BBT), a task utilized for decades by the rehabilitation community to assess unilateral gross manual dexterity in humans. We propose thre
The human hand is able to achieve an unparalleled diversity of manipulation actions. One contributor to this capability is the structure of the human finger pad, where soft internal tissue is surrounded by a layer of more rigid skin. This permits conforming of the finger pad around object contours f