22 accepted papers
This study presents dynamic scoop-and-flick manipulation, a robotic technique that achieves desired projectile motions of target objects through rapid, non-prehensile physical interactions. The method allows a robot to scoop objects resting on a surface and quickly launch them into projectile trajec…
This study introduces a robotic high-speed scooping technique, an effective solution for rapidly picking thin objects from a hard support surface. High-speed scooping involves dynamic and impactful manipulation using a two-fingered gripper. One digit dynamically penetrates beneath the object lying o…
This study focuses on the robotic capability of ungrasping, or releasing, an object in a grasp from the gripper to the robot's environment. The presented technique enables the delicate release of a grasped object using non-static contacts, allowing for rolling and/or sliding. This dexterous manipula
This study investigates the dynamic self-righting behavior of planar-based rigid objects supported at two contact points under the influence of gravity. The underlying mechanism of self-righting is elucidated through a six-dimensional curvature analysis in the configuration space. In addition, we di
This study introduces a robotic high-speed scooping technique, an effective solution for rapidly picking thin objects from a hard support surface. High-speed scooping involves dynamic and impactful manipulation using a two-fingered gripper. One digit dynamically penetrates beneath the object lying o
This study presents the technique of robotic high-speed scooping: rapidly picking an object lying on a support surface by making contact with the object's open top face and the bottom face that is hidden in contact with the support surface. Essential to high-speed scooping is thus to make suitable d…
Bin picking is a challenging problem in robotics due to high dimensional action space, partially visible objects, and contact-rich environments. State-of-the-art methods for bin picking are often simplified as planar manipulation, or learn policy based on human demonstration and motion primitives. T…
We present a data-driven approach for effective bin picking from clutter. Recent bin picking solutions usually lead to a direct pinch grasp on a target object without addressing any other potential contact interaction in clutter. However, appropriate physical interaction can be essential to successf…
When moving objects that are too bulky or heavy to be grasped or lifted, robotic manipulation can benefit from the object's interaction with the support surface and its natural dynamics under gravity. In this work, we show that such dynamic, underactuated manipulation capability can be acquired thro…
This letter presents a robotic manipulation technique for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dexterous ungrasping</i> . It refers to the capability of securely transferring a grasped object from the gripper to the robot’s environment, i.
In this work, we address robotic <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dexterous ungrasping</i> , the capability of securely transferring a grasped object from the gripper to the robot’s environment, i.e. the inverse of grasping or picking,
Presents corrections to author information in the above named paper.
Equations 1–4 on Page 6397 in the above-named article (ibid., vol. 6, no. 4, pp. 6394–6401, Oct. 2021) were incorrectly printed. The correct form of the equations are given here. Also, the corresponding author details need correction. The correct corresponding author is Jungwon Seo (email: junseo@us
This letter introduces a new method for simultaneously singulating and picking objects from clutter. The method can lead to effective robotic bin picking, which still remains elusive despite its importance in many industrial and domestic applications, especially for objects with a thin profile. We l
This letter introduces a new method for scooping manipulation in constrained environments. The presented technique lends itself to relatively thin objects, with a large width-to-thickness ratio, which are commonly seen in many domestic and industrial tasks yet can cause considerable difficulty in ha
This paper introduces the technique of tilt-and-pivot manipulation, a new method for picking thin, rigid objects lying on a flat surface through robotic dexterous in-hand manipulation. During the manipulation process, the gripper is controlled to reorient about the contact with the object such that…
This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose fingers are placed on top of it, and later the increased internal…
This paper presents a novel robotic manipulation technique for transporting objects on the ground in a passive dynamic, nonprehensile manner. The object is manipulated to rock from side to side repeatedly; in the meantime, the force of gravity enables the object to roll along a zigzag path that is e…
This letter presents a novel robotic manipulation technique suitable for shallow-depth insertion, which refers to the assembly of a relatively thin peg-like object into a hole with a shallow depth, as can be seen in a cell phone battery insertion for example. Our technique features dexterous manipul
This letter presents a new method for picking objects through quasistatic in-hand manipulation with end-effectors that have no degrees of freedom. Our stable manipulation/grasp planning is achieved with two contacts at fixed distance and the force of gravity, and is provably complete and correct. Pr
This letter presents a novel robotic manipulation technique that we call robotic edge rolling. It refers to transporting a cylindrical object by rolling on its circular edge, as human workers might maneuver a gas cylinder on the ground. Our robotic edge rolling is achieved by controlling the object
This paper addresses assembly sequence planning for constructing planar structures of the common brick wall pattern collectively with mobile modular robots that have the same rectangular footprint. Here we present a new algorithm for target structures with internal holes that our previous algorithm