13 accepted papers
Tool planning with large language models (LLMs), referring to selecting, organizing, and preparing the tools necessary to complete a user request, bridges the gap between natural language understanding and task execution. However, current works treat different tools as isolated components and fail t…
Soft grippers have shown promising performance in safe and adaptive grasping tasks. However, they often suffer from limitations in grasping force. To address this challenge, this paper presents a novel pneumatic three-finger soft gripper to achieve robust adaptive grasping. The gripper consists of t
Low-rank Adaptation (LoRA) has demonstrated remarkable capabilities for task specific fine-tuning. However, in scenarios that involve multiple tasks, training a separate LoRA model for each one results in considerable inefficiency in terms of storage and inference. Moreover, existing parameter gener
Robotic object packing has broad practical applications in the logistics and automation industry, often formulated by researchers as the online 3D Bin Packing Problem (3D-BPP). However, existing DRL-based methods primarily focus on enhancing performance in limited packing environments while neglecti
Most traditional ornithopters are equipped with active deformation wings for flight control. However, this inevitably results in redundant actuators and a complex mechanical structure, that reduce flight efficiency. According to the flight data of pigeons ( <italic xmlns:mml="http://www.w3.org/1998/
In this paper, a novel adjustable-stiffness force sensor is developed for multitask measurements requiring different force resolutions and ranges. The applied force of the force sensor is indirectly measured through the linear deformation instead of the structure strain through an optical linear enc…
High resolution and large range force/torque (F/T) measurements are usually required in many engineering tasks. However, most existing F/T sensors only have a fixed resolution over their whole ranges. The key lies in that it is difficult to well balance high resolution and large range in the sensor…
This paper presents a novel portable passive lower limb exoskeleton for walking assistance. The exoskeleton is designed with built-in spring mechanisms at the hip and knee joints to realize gravity balancing of the human leg. A pair of mating gears is used to convert the tension force from the built…
Data-efficient domain adaptation with only a few labelled data is desired for many robotic applications, e.g., in grasping detection, the inference skill learned from a grasping dataset is not universal enough to directly apply on various other daily/industrial applications. This paper presents an a…
This paper presents a new variable stiffness actuator (VSA) based on a structure-controlled method: controlling the mechanical structure of the actuator by rotating four flexure hinges. The VSA possesses a property that the output position and stiffness are independently controlled. This is realized…
In this paper, we discussed the simultaneous intervention problem that arises from human-robot teams. The problem concerns with the case that one human operator has to intervene with several robots at almost the same time and it cannot be handled properly by existing methods. A model predictive cont…
Recent works of non-rigid registration have shown promising applications on tasks of deformable manipulation. Those approaches use thin plate spline-robust point matching (TPS-RPM) algorithm to regress a transformation function, which could generate a corresponding manipulation trajectory given a ne…
This paper presents a new flexible fixtureless assembly (FFA) approach for building T-joint structures automatically. The method is based on a Fixturing Assistive Gripper (FAG) mounted on a robot arm for forming T-joint sections. It eliminates possible uncertainties in terms of positioning and size…