Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …

We present a novel robot end-effector for gripping and haptic exploration. Tactile sensing
through suction flow monitoring is achieved with a new suction cup design that contains …

This letter proposes a decoupled two-level model-based planning strategy and control for a
class of robotic tasks involving impact to be made with desired performance and constraints …

This paper proposes a combined planning and optimization method that enables a dual-arm
robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by …

A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects.
Conventionally, when using a vacuum lifter, a human worker watches the state of a running …

Suction grippers are the most common pick-and-place end effectors used in industry.
However, there is little literature on creating and validating models to predict their force …

Active suction cups are widely adopted in industrial and logistics automation. Despite that,
validated dynamic models describing their 6D force/torque interaction with objects are rare …

Many order fulfillment applications in logistics, such as packing, involve picking objects from
unstructured piles before tightly arranging them in bins or shipping containers. Desirable …

Many order fulfillment applications in logistics, such as packing, involve picking objects from
unstructured piles before tightly arranging them in bins or shipping containers. Desirable …

With the rising need for cost-effective automation in logistics, caused by the growth of the e-
commerce sector and the scarcity and shift in the logistics labor market, robots have to be …