20 accepted papers
Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here,…
Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables safe and adaptive contact, yet the intrinsic viscoelasticity of soft polymers leads to stress relaxation and a continuous decay of grasping force during holding. Inspired by human graspin…
Agricultural harvesting grippers have emerged as a pivotal technology in the evolution of smart agriculture, enhancing efficient fruit collection. Existing grippers frequently fail to accommodate the diverse morphologies of fruits. Moreover, achieving stable grasping under external disturbances, suc
Agricultural harvesting grippers have emerged as a pivotal technology in the evolution of smart agriculture, enhancing efficient fruit collection. Existing grippers frequently fail to accommodate the diverse morphologies of fruits. Moreover, achieving stable grasping under external disturbances, suc…
Generalizing robotic manipulation across object poses, viewpoints, and dynamic disturbances is difficult, especially with only a few demonstrations. End-to-end visuomotor policies are expressive but data-hungry, while planning and optimization satisfy explicit constraints but do not directly capture…
Enabling robots to perform tool manipulation like humans remains a great challenge. A semantic understanding of tool affordances and precise spatial localization is essential for this task. Conventional methods relying on RGB-D cameras for affordance detection and tool manipulation have been proven
The bin packing problem (BPP) has attracted enthusiastic research interest recently, owing to its widespread applications in logistics and warehousing environments. It is truly essential to optimize the bin packing to enable more objects to be packed into bins, in which the object packing order and
An autonomous bin-picking system for grasping various cluttered packages can significantly benefit logistics by reducing manual labor and streamlining processing. The system's key challenges involve the gripper for confined spaces and grasp planning for unseen objects with varying materials, shapes,
Under-actuated robotic grippers, regarded as critical components of robotic grasping, have attracted considerable attention. However, existing under-actuated grippers emerge with several primary issues, including low payload, insufficient force sensing, small grasping force, weak grasping stability…
Deformable organisms in nature inspire the design of shape-shifting robots, including soft robots, bionic robots and physical human-robot interfaces. However, to achieve multi-objective shape imitation and multi-form transformation, shape-shifting robots often require complex actuation systems, cont
Robotic kitting has attracted considerable attention in logistics and industrial settings. However, existing kitting methods encounter challenges such as low precision and poor efficiency, limiting their widespread applications. To address these issues, we present a novel kitting framework that impr…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these compliant robots are predominantly iterated through experiments…
Under-actuated robot grippers, as a pervasive tool of robots, have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread applications limited. To better address relevant res…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position contr…
Most human activities in daily living or professional work rely on upper body motion. Measuring upper body motion is essential for many applications such as health evaluation, rehabilitation, human power augmentation, skill transferring, etc. Computer vision-based systems have been widely used to di…
Soft robotic grippers have attracted considerable attention in terms of the advantages of the high compliance and robustness to variance in object geometry; however, they are still limited by the corresponding sensing capabilities. We propose a novel soft gripper that looks like a ‘granary’ in the g
In our daily life, there are many objects represented by cylindrical shapes and ellipsoids. The tops of these objects are formed by elliptic shape primitives. Thus, it is available for a robot to manipulate these objects by ellipse detection. In this work, we propose a novel approach to generating g…
We propose a high efficient learning approach to estimating 6D (Degree of Freedom) pose of the textured or texture-less objects for grasping purposes in a cluttered environment where the objects might be partially occluded. The method comprises three main steps. Given a single RGB-D image, we first…
Robotic manipulation of objects requires a fast recognition from image stream. For many cylindrical object (e.g., cans, cups, pipes, bottles, etc.) this is possible through detection of ellipse depicting the circular top of the cylinder. Growing industrial and warehouse applications of robots drive