Baxter's homunculus: Virtual reality spaces for teleoperation in manufacturing
We demonstrate a low-cost telerobotic system that leverages commercial virtual reality (VR)
technology and integrates it with existing robotics control infrastructure. The system runs on …
technology and integrates it with existing robotics control infrastructure. The system runs on …
Learning object grasping for soft robot hands
We present a three-dimensional deep convolutional neural network (3D CNN) approach for
grasping unknown objects with soft hands. Soft hands are compliant and capable of …
grasping unknown objects with soft hands. Soft hands are compliant and capable of …
Vision-driven compliant manipulation for reliable, high-precision assembly tasks
Highly constrained manipulation tasks continue to be challenging for autonomous robots as
they require high levels of precision, typically less than 1mm, which is often incompatible …
they require high levels of precision, typically less than 1mm, which is often incompatible …
Survey of Learning Approaches for Robotic In-Hand Manipulation
Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
Robust, occlusion-aware pose estimation for objects grasped by adaptive hands
Many manipulation tasks, such as placement or within-hand manipulation, require the
object's pose relative to a robot hand. The task is difficult when the hand significantly …
object's pose relative to a robot hand. The task is difficult when the hand significantly …
Precise multi-modal in-hand pose estimation using low-precision sensors for robotic assembly
F von Drigalski, K Hayashi, Y Huang… - … on Robotics and …, 2021 - ieeexplore.ieee.org
In industrial assembly tasks, the in-hand pose of grasped objects needs to be known with
high precision for subsequent manipulation tasks such as insertion. This problem (in-hand …
high precision for subsequent manipulation tasks such as insertion. This problem (in-hand …
In-hand object pose tracking via contact feedback and gpu-accelerated robotic simulation
Tracking the pose of an object while it is being held and manipulated by a robot hand is
difficult for vision-based methods due to significant occlusions. Prior works have explored …
difficult for vision-based methods due to significant occlusions. Prior works have explored …
Contact-based in-hand pose estimation using bayesian state estimation and particle filtering
F Von Drigalski, S Taniguchi, R Lee… - … on Robotics and …, 2020 - ieeexplore.ieee.org
In industrial assembly tasks, the position of an object grasped by the robot has to be known
with high precision in order to insert or place it. In real applications, this problem is …
with high precision in order to insert or place it. In real applications, this problem is …
A biomimetic tactile palm for robotic object manipulation
Tactile sensing plays a vital role for human hand function in terms of object exploration,
grasping and manipulation. Different types of tactile sensors have been designed during the …
grasping and manipulation. Different types of tactile sensors have been designed during the …
Estimating the orientation of objects from tactile sensing data using machine learning methods and visual frames of reference
Underactuated hands are useful tools for robotic in-hand manipulation tasks due to their
capability to seamlessly adapt to unknown objects. To enable robots using such hands to …
capability to seamlessly adapt to unknown objects. To enable robots using such hands to …