8 accepted papers
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is straightforward to filter invalid grasp poses in the post-process, such a
Planar-symmetric hands, such as parallel grippers, are widely adopted in both research and industrial fields. Their symmetry, however, introduces ambiguity and discontinuity in the SO(3) representation, which hinders both the training and inference of neural network-based grasp detectors. We propose…
This paper addresses the challenging problem of category-level pose estimation. Current state-of-the-art methods for this task face challenges when dealing with symmetric objects and when attempting to generalize to new environments solely through synthetic data training. In this work, we address th…
Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data generation and learning pipeline that can leverage power grasping, which has more contact points with an enveloping con…
In this paper, we present a robotic device for mouse tail vein injection. We propose a mouse holding mechanism to realize vein injection without anesthetizing the mouse, which consists of a tourniquet, vacuum port, and adaptive tail-end fixture. The position of the target vein in 3D space is reconst…
In this letter, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with other finger joints and switched with a passive and spring-l
This paper describes a stable knee-stretched walking of a humanoid by the resolved viscoelasticity control (RVC). The RVC method resolves multiple viscoelasticities in task-space, including the center of mass viscoelasticity for balancing, into joint-space viscoelasticity. Although a robust and comp…
For heavy duty tasks which are needed in field or rough terrain, we developed a hydrostatically actuated anthropomorphic hand. The hand is specifically designed for the humanoid robot HYDRA, whose 40 joints are driven by back-drivable electro-hydrostatic actuators (EHA). Each designed hand has four…