5 accepted papers
The grasping capabilities of robotic arms have been extensively studied by researchers in terms of accuracy, flexibility, and versatility, enabling robots to perform various tasks in domestic, industrial, and medical scenarios. However, grasping flat objects has remained a significant challenge and …
In modern healthcare, the demand for autonomous robotic assistants has grown significantly, particularly in the operating room, where surgical tasks require precision and reliability. Robotic scrub nurses have emerged as a promising solution to improve efficiency and reduce human error during surger
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' non-linear properties and high-dimensional geometric configuration. In this letter, we propose an efficient shape servo
Dynamic Movement Primitives (DMP) are widely applied in movement representation due to their ability to encode tasks using generalization properties. However, the coupled multiple DMP generalization cannot be directly solved based on the original DMP formula. Prior works provide satisfactory perform
This letter addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model DLOs as kinematic multibody systems via our proposed keypoin