10 accepted papers
Dual-arm robots are widely used to cooperatively manipulate large, heavy objects that exceed single-arm payload limits. However, conventional dual-arm planners typically assume that the object is already positioned within the reachable and graspable workspace of both end-effectors. When the object l
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion. However, such learning-based approaches still face a critical limit…
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs based on the object geometry and calibrating cameras with high-…
Clustered-object environments challenge robotic grasp planning and implementation mainly for two reasons: (i) the limited inter-object clearance leaves insufficient space for conventional gripper fingers to approach and wrap the target object without collisions, and (ii) perception-induced position
The nonlinearity and uncertainty of dynamics pose significant challenges to ensuring the tracking performance of joint trajectories, especially time-varying effects on the load and temperature. In this letter, we present an adaptive neural computed torque control scheme to improve the tracking accur
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs based on the object geometry and calibrating cameras with high-
This paper proposes to use a high-compliance soft wrist to improve the performance of robotic peg-in-hole in uncertain environments. In contrast to past research in this field, in which force control with relatively low compliance has been used, we propose a method that searching and aligning motion
This paper presents a stiffness-changeable soft finger using chain mail jamming. This finger can achieve adaptive grasping and in-hand manipulation by reshaping and exerting changeable gripping force. The jamming phenomenon happens when particles in a chamber get interlocked where confining pressure…
Picking a thin object placed on a flat surface is challenging as contact regions are limited. Scooping grasp is a commonly used method for handling thin objects. However, the sharp fingertips are required to achieve the successful scooping motion, which are dangerous. This letter proposes a novel gr
This letter designs a mechanical tool for robots with two-finger parallel grippers, which extends the functionality of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of the mechanical tool is two symmetric parallelograms