9 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…
Full-configuration control of robotic manipulators with awareness of whole-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, making it insufficient to consider only the end-effector poses in policy learning. The typical approach
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo implementation. This paper introduces a novel flow-aware na
Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or tasks, which necessitates the use of custom tools and specialize
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
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic interventions. Existing techniques commonly impart magnetic properti…
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…
Laser-driven micro-tools are formulated by treating highly-focused laser beams as actuators, to control the tool's motion to contact then manipulate a micro object, which allows it to manipulate opaque micro objects, or large cells without causing photodamage. However, most existing laser-driven too…