Active entanglement enables stochastic, topological grasping [PDF]
Proceedings of the National Academy of Sciences of the United States of America, 2022 Significance How might one design a grasping system that can handle the topological complexities of branched soft objects? Here, we introduce the notion of entanglement grasping, a nondeterministic approach that circumvents challenges of object ...
Kaitlyn P Becker +2 more
exaly +2 more sources
Grasping posture of humanoid manipulator based on target shape analysis and force closure
AEJ - Alexandria Engineering Journal, 2022 With the diversity of manipulator grasping methods and the complexity of the unstructured environment, the grasping planning of the target object is very complicated.
Du Jiang, Bo Tao, Jinxian Qi
exaly +3 more sources
UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy [PDF]
Computer Vision and Pattern Recognition, 2023 In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across hundreds of ...
Yinzhen Xu +12 more
semanticscholar +1 more source
DexYCB: A Benchmark for Capturing Hand Grasping of Objects [PDF]
Computer Vision and Pattern Recognition, 2021 We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough benchmark of state-of-the-art approaches on three relevant tasks: 2D object
Yu-Wei Chao +11 more
semanticscholar +1 more source
UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning [PDF]
IEEE International Conference on Computer Vision, 2023 We propose a novel, object-agnostic method for learning a universal policy for dexterous object grasping from realistic point cloud observations and proprioceptive information under a table-top setting, namely UniDexGrasp++.
Haoran Geng, Yun Liu
semanticscholar +1 more source
Electromagnetic Switching Multiple Grasping Modes Robot Hand
Applied Sciences, 2022 Giving robot hands more powerful functions has always been one of the goals pursued by scholars in this field. In this paper, an electromagnetic switching multiple grasping modes robot hand (ESMGM hand) is proposed, which integrates three typical ...
Siyun Liu +7 more
doaj +1 more source
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping [PDF]
Conference on Robot Learning, 2023 Grasping objects by a specific part is often crucial for safety and for executing downstream tasks. Yet, learning-based grasp planners lack this behavior unless they are trained on specific object part data, making it a significant challenge to scale ...
Adam Rashid +6 more
semanticscholar +1 more source
Binocular Viewing Facilitates Size Constancy for Grasping and Manual Estimation
Vision, 2022 A prerequisite for efficient prehension is the ability to estimate an object’s distance and size. While most studies demonstrate that binocular viewing is associated with a more efficient grasp programming and execution compared to monocular viewing, the
Ewa Niechwiej-Szwedo +2 more
doaj +1 more source
STIMGRASP: A Home-Based Functional Electrical Stimulator for Grasp Restoration in Daily Activities
Sensors, 2022 Thousands of people currently suffer from motor limitations caused by SCI and strokes, which impose personal and social challenges. These individuals may have a satisfactory recovery by applying functional electrical stimulation that enables the ...
Renato G. Barelli +2 more
doaj +1 more source
A Novel Gripper with Integrated Rotary Unit and Force Control for Pick and Place Applications
Robotics, 2022 Modern electrical grippers have lower life-cycle costs compared to pneumatic ones. Furthermore, they provide force control, making it possible to grasp objects with different fragility using a single device.
Alexey M. Romanov +2 more
doaj +1 more source