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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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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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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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Automatic grasp planning for self-adjustable gripper frames
In high-mix, low-volume manufacturing, end-of-arm tooling (EOAT) must be able to handle various products. Conventional EOATs usually comprise fixed...
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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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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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Using adaptive memory in GRASP to find minimum conflict-free spanning trees
Avoiding conflicting elements is a natural constraint that appears in several graph problems making them more challenging and close to real...
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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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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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Effective Population-Based Meta-heuristics with NEH and GRASP Heuristics Minimizing Total Weighted flow Time in No-Wait Flow Shop Scheduling Problem Under Sequence-Dependent Setup Time Constraint
The optimization of scheduling in industrial manufacturing is a crucial concern in operations research. In this paper, a range of of methodological...
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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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Dual-arm aerial continuum manipulation systems: modeling, pre-grasp planning, and control
Aerial continuum manipulation systems (ACMSs) equipped with single continuum arm have recently been introduced to improve the operational...
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Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp
Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge. Commercial prosthetics are still inferior...
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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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Path-Planning
A path is the geometrical description of the robot’s movement in space. Given two points A and B, there are many different (actually infinite)...
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GOMP-ST: Grasp Optimized Motion Planning for Suction Transport
Suction cup gras** is very common in industry, but moving too quickly can cause suction cups to detach, causing drops or damage. Maintaining a...
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Automatic Grasp Pose Generation for Parallel Jaw Grippers
This paper presents a novel approach for the automatic offline grasp pose synthesis on known rigid objects for parallel jaw grippers. We use several...
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Transfer Path Contribution to Floor Vibration of Metro Vehicles Based on Operational Transfer Path Analysis Method
Operational transfer path analysis (OTPA) is an advanced vibration and noise transfer path identification and contribution evaluation method....
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Hierarchical path planning for multi-arm spacecraft with general translational and rotational locomotion mode
On-orbit construction and maintenance technology will play a significant role in future space exploration. The dexterous multifunctional spacecraft...
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Path-following control of a ship by pushing using a single autonomous tugboat
This paper discusses the path-following control of a ship or other floating object by pushing using a single autonomous tugboat. To do this, we first...
