6 accepted papers
Dexterous grasp generation that considers armrelated constraints is crucial in real-world scenarios involving armenvironment collision avoidance, workspace boundary grasps, and consecutive grasping. Existing hand-centric grasp models, which primarily focus on the floating hand's pose, are insufficie
While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertainty, open-loop execution often yields uncoordinated contacts, causing undesired in-hand object motion and even grasp fail…
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to manipulating an object to a desired pose through only finger motions
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between controllers for different situations, which compromises both
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods. Inspired by recent advances in contact-rich locomotion and manipul…
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a constrained workspace; As a trade-off, it has relatively few degrees…