4 accepted papers
Mobile manipulation systems have advanced significantly in recent years. However, substantial gaps remain that prevent state-of-the-art platforms from achieving widespread real-world deployment, particularly in reliably grasping items in unstructured environments. To help bridge this gap, we develop…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a grocery shopping scenario in an actual, unmodified grocery store.…
We present a solution to the separate challenges faced by suction cups and gecko adhesives for one-sided grasping of heavy, irregular items. The gripping technology combines suction with adhesion for grasping and placing a wide range of objects in packed spaces. Applications include shopping and res
Tactile sensing of surface normals is essential for exploration of unknown objects. Many tactile sensors have been developed for contact measurement. However, few of these sensors provide surface orientation, and only up to a limited degree. This paper presents a novel contact and surface orientatio…