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RANET: A Grasp Generative Residual Attention Network for Robotic Gras** Detection
This paper presents a novel grasp generative residual attention network (RANET) for generating antipodal robotic grasp from multi-modal images with...
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Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments
The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a...
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Workspace-Based Precision Grasp Pose Generator for Multi-fingered Robotic Hands
A valid precision grasp pose can be seen as a combination of relative pose between the palm and the object, contact points of fingertips and joint...
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Learn to Grasp Unknown-Adjacent Objects for Sequential Robotic Manipulation
Gras** unfamiliar-adjacent objects based on limited previous information is a daunting task in robotic manipulation. It is substantially more...
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Synergistic control of soft robotic hands for human-like grasp postures
Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands, there are great...
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Cooperative Grasp Detection using Convolutional Neural Network
In this work, we develop a complete robotic system to enable the robot to fulfill object-independent cooperative grasp tasks. The human subject...
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Integration of Deep Q-Learning with a Grasp Quality Network for Robot Gras** in Cluttered Environments
During the movement of a robotic arm, collisions can easily occur if the arm directly grasps at multiple tightly stacked objects, thereby leading to...
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Trajectory Optimization for Manipulation Considering Grasp Selection and Adjustment
Generating motions to grasp the objects in the scene is critical in robotic manipulation. The feasibility and quality of the output trajectory are...
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Grasp Configuration Synthesis from 3D Point Clouds with Attention Mechanism
Grasp generation is a crucial task in robotics, especially in unstructured environments, where robots must identify suitable grasp locations on...
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Gradient Based Grasp Pose Optimization on a NeRF that Approximates Grasp Success
Current robotic gras** methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating...
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Learn to grasp unknown objects in robotic manipulation
Gras** unfamiliar objects (unknown during training) based on limited prior knowledge is a challenging task in robotic manipulation. Recent...
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6-DoF grasp pose estimation based on instance reconstruction
Gras** objects poses a significant challenge for autonomous robotic manipulation in unstructured and cluttered environments. Despite recent...
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Tactile-sensing-based robotic gras** stability analysis
Tactile signals play a crucial role in enabling robots to successfully manipulate unfamiliar objects. For robots to grasp unknown objects securely...
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Multiple aspects grasp quality evaluation in underactuated grasp of tendon-driven continuum robots
Continuum robots (CRs) have shown a wide range of potential applications from the medical industry to rescue missions. CRs form curves with...
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Enhancing visionless object recognition on grasp using ontology: the OntOGrasp framework
The understanding of the external characteristics of objects that need to be grasped is crucial for enhancing the dexterity of a robotic hand....
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On robot grasp learning using equivariant models
Real-world grasp detection is challenging due to the stochasticity in grasp dynamics and the noise in hardware. Ideally, the system would adapt to...
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A 3D-printable modular robotic gripper
Robotic systems are key in industry 4.0 context. While there are many robot models available in the market, the number of grippers with sensing...
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Robotic hand synergies for in-hand regras** driven by object information
We develop a conditional generative model to represent dexterous grasp postures of a robotic hand and use it to generate in-hand regrasp...
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Finite element-based grasp analysis using contact pressure maps of a robotic gripper
Conventionally, a robotic grasp is represented by point contacts with rigid body description for object and gripper. With these assumptions, the...
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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...
