Results 11 to 20 of about 141,405 (364)
The International Journal of Robotics Research, 2022 This paper studies the robustness of grasping in the frictionless plane from a geometric perspective. By treating grasping as a process that shapes the free-space object over time, we define three types of certificates to guarantee success of a grasp: (a) invariance under an initial set, (b) convergence toward a goal grasp, and (c) observability over ...
Bernardo Aceituno-Cabezas +2 more
openaire +2 more sources
ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation [PDF]
International Conference on 3D Vision, 2023 We present ArtiGrasp, a novel method to synthesize bimanual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are necessary to ...
Hui Zhang +6 more
semanticscholar +1 more source
When Transformer Meets Robotic Grasping: Exploits Context for Efficient Grasp Detection [PDF]
IEEE Robotics and Automation Letters, 2022 In this letter, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is that we adopt
Shaochen Wang, Zhangli Zhou, Z. Kan
semanticscholar +1 more source
Is It Pointing to Grasping or Grasping Pointing? [PDF]
Motor Control, 1999 The Smeets and Brenner view on grasping is simple: grasping is in fact pointing. In our comments we examine the model beyond the reach-to-grasp task namely, by grasping (without reaching) of moving objects and eating. The model fits the data of both tasks.
Savelsbergh, G.J.P., van der Kamp, J.
openaire +2 more sources
Estimation of the Abduction/Adduction Movement of the Metacarpophalangeal Joint of the Thumb
Applied Sciences, 2021 Thumb opposition is essential for grasping, and involves the flexion and abduction of the carpometacarpal and metacarpophalangeal joints of the thumb. The high number of degrees of freedom of the thumb in a fairly small space makes the in vivo recording ...
Néstor J. Jarque-Bou +2 more
doaj +1 more source
TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and A Grasping Baseline [PDF]
IEEE Robotics and Automation Letters, 2022 Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation.
Hongjie Fang +3 more
semanticscholar +1 more source
Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection [PDF]
Int. J. Robotics Res., 2016 We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that task-space motion of ...
S. Levine +3 more
semanticscholar +1 more source
GRASP: A Multitasking Tether [PDF]
Frontiers in Cell and Developmental Biology, 2016 Originally identified as Golgi stacking factors in vitro, the Golgi reassembly stacking protein (GRASP) family has been shown to act as membrane tethers with multiple cellular roles. As an update to previous comprehensive reviews of the GRASP family (Giuliani et al., 2011; Vinke et al., 2011; Jarvela and Linstedt, 2012), we outline here the latest ...
Rabouille, Catherine, Linstedt, Adam D.
openaire +4 more sources
GenDexGrasp: Generalizable Dexterous Grasping [PDF]
IEEE International Conference on Robotics and Automation, 2022 Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues.
Puhao Li +6 more
semanticscholar +1 more source
Employing Pneumatic, Telescopic Actuators for the Development of Soft and Hybrid Robotic Grippers
Frontiers in Robotics and AI, 2020 Traditionally, the robotic end-effectors that are employed in unstructured and dynamic environments are rigid and their operation requires sophisticated sensing elements and complicated control algorithms in order to handle and manipulate delicate and ...
Lucas Gerez +2 more
doaj +1 more source