10 accepted papers
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging helps mitigate these uncertainties by constraining an object’s mobility without requiring precise contact modeling. Existing caging research often treats morphology and policy opt
Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as a promising strategy to improve the manipulation capabilities of a robotic system. This work presents a novel grasp planning algorithm for hybrid gripper
The integration of variable stiffness actuators (VSA) in robotic systems endows them with intrinsic flexibility and therefore robustness to unknown disturbances. However, this characteristic presents a challenge: choosing the best intrinsic stiffness setting guaranteeing the required force ap-plicat…
Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in dynamic and cluttered environments, this is not realistic and seve…
Pick-and-place operations constitute the majority of today's industrial robotic applications. However, comparability and reproducibility of results has remained an issue that delays further advances in this field. Evaluation of manipulation systems can be carried out at different levels, but for the
In this work, we investigate the behavior of artificial hands under impulsive load conditions. Resilience to impacts has been seldom considered in grasp and manipulation literature and benchmarks, although it is one of the most relevant issues in a number of applications involving physical interacti
This paper deals with the problem of planning grasp strategies on constrained and cluttered scenarios. The planner sequences the objects for grasping by considering multiple factors: (i) possible environmental constraints that can be exploited to grasp an object, (ii) object neighborhood, (iii) capa…
This paper presents the first two members of the new generation of CLASH hands, which exploit low cost actuation and rapid prototyping to create antagonistic modular and lightweight hands and grippers. The hands approach the robustness of the DLR Awiwi hand with a much lower complexity and cost. To…
Pogo-stick bouncing or the spring loaded inverted pendulum represents fundamental dynamics models for hopping and running in legged locomotion. However, these conceptual models are in general of lower order than the elastic multibody dynamics of versatile segmented legs. The question how to embody t
We address the operation of robotic legs with intrinsic elasticity in hopping cycles determined by the mechanical resonant properties of the system. This ensures energy efficiency and high jumping velocity and distance. Recently, we have shown in simulation that a simple, biologically inspired bang-…