3 accepted papers
Robotic grasping requires flexible reconfiguration to handle diverse objects and tasks. This paper proposes a monorail-like reconfiguration framework for robotic grippers, inspired by train–rail relationships, that generates diverse finger layouts. The proposed framework unifies two complementary fo…
This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal palm positions on the object's surface that enable the func
Synergy provides a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot perform in-hand manipulation, e.g., tasks that involve simultaneously grasping and manipulating an object. Locking the posi…