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Robot grasp detection based on key point estimation
Gras** is an important general ability for robots to work in aerospace and other fields. An accurate gras** detection result is the premise and...
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Fast suction-grasp-difficulty estimation for high throughput plastic-waste sorting
The selection of the gras** location is the most important task for robots that handle randomly shaped objects. In previous studies, the grasp...
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Improving Object Grasp Performance via Transformer-Based Sparse Shape Completion
Currently, robotic gras** methods based on sparse partial point clouds have attained excellent gras** performance on various objects. However,...
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Efficiently finding poses for multiple grasp types with partial point clouds by uncoupling grasp shape and scale
We present an algorithm that discovers grasp pose solutions for multiple grasp types for a multi-fingered mechanical gripper using partially-sensed...
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Cut-paste image generation for instance segmentation for robotic picking of industrial parts
Vision-based robotic picking enables automation of commissioning and sortation of disordered parts. To locate parts for gras**, state-of-the-art...
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Evaluation and selection of grasp quality criteria for dexterous manipulation
The development of algorithms capable of automatically generating optimal grasp involves first of all the necessity to define the notion of optimal...
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Domain Adaptation Grasp Network for Novel Object Grasp Detection
We study the problem of detecting object grasp from an RGB-D image in cluttered scenes. In particular, we focus on gras** household objects by a...
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Spatial Grasp Language (SGL)
The chapter offers Spatial Grasp Language details which may be particularly useful for better understanding of many practical examples in the...
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Hand–Object Interaction Modeling for Precision Grasp by Multi-fingered Hands
This paper presents modeling of interaction between a multi-fingered hand and object in precision grasp. The analysis is useful in planning of...
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Tactile object recognition in early phases of gras** using underactuated robotic hands
Identifying objects during the early phases of robotic gras** in unstructured environments is a crucial step toward successful dexterous robotic...
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Real-Time Grasp Detection Using Efficient Channel Attention
To realize the intelligence of robots, robots need to have the ability to grasp unknown objects. In this paper, a novel grasp detection network is...
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Grasp Pose Learning from Human Demonstration with Task Constraints
To learn grasp constraints from human demonstrations, we propose a method that combines data-driven grasp constraint learning and one-shot human...
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Adaptive robotic construction of wood frames
Automated robotic construction of wood frames faces significant challenges, particularly in the perception of large studs and maintaining tight...
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Design and Development of an Adaptive Robotic Gripper
In this paper, the design and development of an adaptive gripper are presented. Adaptive grippers are useful for gras** objects of varied geometric...
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A novel object slicing-based grasp planner for unknown 3D objects
Robotic grasp planning has been one of the active areas of research in robotics but still remains a challenging problem for arbitrary objects even in...
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Circular Robotic Construction
In situ robotic construction is a type of construction where mobile robotic systems build directly on the building site. To enable on-site...
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An Underwater Biomimetic Robot that can Swim, Bipedal Walk and Grasp
In develo** and exploring extreme and harsh underwater environments, underwater robots can effectively replace humans to complete tasks. To meet...
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A new strategy for capturing a noncooperative spacecraft by a robotic arm
In robotic arm-based noncooperative spacecraft-capture missions, the gripper of the robotic arm collides with the target’s surface and graspable...
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A Practical Model of Hybrid Robotic Hands for Gras** Applications Based on Bioinspired Form
How to design a robotic hand that can perform anthropomorphic grasp with high compliance, adaptability and compact structure is still a challenging...
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A CNN-Based Grasp Planning Method for Random Picking of Unknown Objects with a Vacuum Gripper
Robotic gras** is still challenging due to limitations in perception and control, especially when the CAD models of objects are unknown. Although...