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Toward robotic manipulation
MT Mason - Annual Review of Control, Robotics, and …, 2018 - annualreviews.org
This article surveys manipulation, including both biological and robotic manipulation.
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …
Dynamic in-hand sliding manipulation
This paper presents a framework for planning the motion of an η-fingered robot hand to
create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The …
create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The …
Survey of learning-based 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 …
Variable-friction finger surfaces to enable within-hand manipulation via grip** and sliding
The human hand is able to achieve an unparalleled diversity of manipulation actions. One
contributor to this capability is the structure of the human finger pad, where soft internal …
contributor to this capability is the structure of the human finger pad, where soft internal …
Design and control of roller grasper v2 for in-hand manipulation
The ability to perform in-hand manipulation still remains an unsolved problem; having this
capability would allow robots to perform sophisticated tasks requiring repositioning and …
capability would allow robots to perform sophisticated tasks requiring repositioning and …
Reinforcement learning for pivoting task
R Antonova, S Cruciani, C Smith, D Kragic - ar** and manipulation: A survey
Inertial parameters characterise an object's motion under applied forces, and can provide
strong priors for planning and control of robotic actions to manipulate the object. However …
strong priors for planning and control of robotic actions to manipulate the object. However …
Adaptive control for pivoting with visual and tactile feedback
In this work we present an adaptive control approach for pivoting, which is an in-hand
manipulation maneuver that consists of rotating a grasped object to a desired orientation …
manipulation maneuver that consists of rotating a grasped object to a desired orientation …
Robust pivoting manipulation using contact implicit bilevel optimization
Y Shirai, DK Jha… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
Generalizable manipulation requires that robots be able to interact with novel objects and
environment. This requirement makes manipulation extremely challenging as a robot has to …
environment. This requirement makes manipulation extremely challenging as a robot has to …
In-hand manipulation with a simple belted parallel-jaw gripper
Many manipulation tasks require task-specific grasps that may initially be unavailable,
requiring the robot to transition from grasp to grasp. Current approaches to in-hand …
requiring the robot to transition from grasp to grasp. Current approaches to in-hand …