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Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning [article]

Andrew S. Morgan, Kaiyu Hang, Bowen Wen, Kostas Bekris, Aaron M. Dollar
2022
step towards realizing true robot in-hand manipulation capabilities.  ...  A finger gaiting system must simultaneously plan for and control forces on the object while maintaining stability during contact switching.  ...  And, finally, we present a simple yet effective robot system capable of complex finger gaiting capabilities, underscoring continued discussion in the community on the utility of compliance for in-hand  ... 
doi:10.48550/arxiv.2201.07928 fatcat:barwg7n2q5hxrhj6nje6xpt5zu

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
-that appeared in this periodical during 2021, and items from previous years that were commented upon or corrected in 2021.  ...  Note that the item title is found only under the primary entry in the Author Index.  ...  ., +, LRA Oct. 2021 7169-7176 Manipulators A Flexible Robotic Assembly System Combining CAD Based Localization, Compliance Control, and a Multi-Modal Gripper.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
On Soft Fingertips for In-Hand Manipulation: Modeling and Implications for Robot Hand Design.  ...  Kim, C., +, LRA Oct. 2019 3473-3480 Complexity theory Dynamic Resource Task Negotiation to Enable Product Agent Exploration in Multi-Agent Manufacturing Systems.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper [chapter]

Raymond R. Ma, Adam Spiers, Aaron M. Dollar
2015 Mechanisms and Machine Science  
The proposed asymmetric hand design, the Multi-Modal (M 2 ) Gripper, consists of a modular thumb with varying degrees of passive compliance and a dexterous, tendondriven forefinger that can produce either  ...  With only two actuators and basic open-loop control, the hand is able to adaptively grasp objects of varying geometries, pinch-grasp smaller items, and perform some degree of in-hand manipulation via rolling  ...  Acknowledgments The authors would like to thank Spencer Backus for his feedback in refining the mechanical design of the described gripper  ... 
doi:10.1007/978-3-319-23327-7_68 fatcat:gbmhkubh6fctthh2ku56jbt74i

Manipulation by Feel: Touch-Based Control with Deep Predictive Models [article]

Stephen Tian, Frederik Ebert, Dinesh Jayaraman, Mayur Mudigonda, Chelsea Finn, Roberto Calandra, Sergey Levine
2019 arXiv   pre-print
We show that this method enables a robot equipped with a GelSight-style tactile sensor to manipulate a ball, analog stick, and 20-sided die, learning from unsupervised autonomous interaction and then using  ...  specify a desired behavior in terms of tactile percepts.  ...  ACKNOWLEDGEMENTS We would like to thank Chris Myers from the CITRIS Invention Lab at UC Berkeley for help with building the custom GelSight sensor and the 3 axis test-rig.  ... 
arXiv:1903.04128v1 fatcat:baitzl6zlrecxbxxlvoekwyk24

Soft Robotic Hands and Tactile Sensors for Underwater Robotics

Rafsan Al Shafatul Islam Subad, Liam B. Cross, Kihan Park
2021 Applied Mechanics  
solutions that bridge the gap between accuracy and adaptability in an environment where there is so much fluctuation in object targeting and environmental conditions.  ...  In this paper, we represent a review of the history, development, recent research endeavors, and projected outlook for the area of soft robotics technology pertaining to its use with tactile sensing in  ...  The hand is equipped with a finger-tip suction method for underwater mobile manipulation.  ... 
doi:10.3390/applmech2020021 fatcat:kmctjxtvtfegtoknf2tfwiqmfu

A compliant, underactuated hand for robust manipulation

Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert Kohout, Robert D. Howe, Aaron M. Dollar
2014 The international journal of robotics research  
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks.  ...  Particular emphasis is placed on the development of underactuated fingers that are capable of both firm power grasps and low-stiffness fingertip grasps using only the compliant mechanics of the fingers  ...  and insights on the design of the iHY Hand.  ... 
doi:10.1177/0278364913514466 fatcat:ptsu6xytzbcwbfaaolqf6mm56e

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Marco Santello, Matteo Bianchi, Marco Gabiccini, Emiliano Ricciardi, Gionata Salvietti, Domenico Prattichizzo, Marc Ernst, Alessandro Moscatelli, Henrik Jörntell, Astrid M.L. Kappers, Kostas Kyriakopoulos, Alin Albu-Schäffer (+2 others)
2016 Physics of Life Reviews  
The third section focuses on the relation between sensing and human hand synergies, and in particular on how the concept of dimensionality reduction might apply to the sensory domain of hand control, in  ...  In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses.  ...  Mapping EMG from multiple muscles to multi-DOFs devices Whereas multi-fingered hand prostheses, prosthetic elbows, wrists and shoulders are now available for use in the rehabilitation clinics, in general  ... 
doi:10.1016/j.plrev.2016.02.001 pmid:26923030 pmcid:PMC5839666 fatcat:uu6cf7mc6ngvfpivx3qlk2iyda

Mechatronic design of an integrated robotic hand

Morgan Quigley, Curt Salisbury, Andrew Y. Ng, J. Kenneth Salisbury
2014 The international journal of robotics research  
Finally, we present the results of experiments in which the robotic hand was affixed to a manipulator arm and teleoperated to grasp and manipulate a variety of objects.  ...  In this paper, we present a hand designed for minimalistic dexterous manipulation, in which every stage of the design process also considered its manufacturing cost.  ...  Funding This work was funded in part by the DARPA Autonomous Robotic Manipulation (ARM) Program.  ... 
doi:10.1177/0278364913515032 fatcat:fzfrrse53bdw3jylbp3yl5nb2u

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2020 5725-5731 Safe Robot Navigation Via Multi-Modal Anomaly Detection.  ...  ., +, LRA Oct. 2020 6956-6963 Safe Robot Navigation Via Multi-Modal Anomaly Detection.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

New Evidence for Therapies in Stroke Rehabilitation

Bruce H. Dobkin, Andrew Dorsch
2013 Current Atherosclerosis Reports  
drug and biological manipulations can induce adaptations at multiple levels of the nervous system.  ...  Neurologic rehabilitation aims to reduce impairments and disabilities so that persons with serious stroke can return to participation in usual self-care and daily activities as independently as feasible  ...  Most patients need a multi-modal approach to build on their strengths and to limit frustration in word finding and fluency.  ... 
doi:10.1007/s11883-013-0331-y pmid:23591673 pmcid:PMC3679365 fatcat:u7eapzevtjcujnis4ojqregecm

DEVELOPMENT AND ANALYSIS OF RECONFIGURABLE ROBOTIC END-EFFECTOR FOR MACHINING AND PART HANDLING

Clydene Emmanual Reddy, Jared Padayachee, Glen Bright
2021 South African Journal of Industrial Engineering  
Advanced robotic systems are an Industry 4.0 enabler in smart factories. Industrial robotic manipulators require an end-effector to perform tasks.  ...  The results demonstrate the versatility and high compliance of the gripper. An experimental study revealed the influence that reconfigurability has on the spindle dynamics.  ...  Ziesmer [12] developed a reconfigurable end-effector, shown in Figure 1b , for in-hand manipulation without finger gaiting or regrasping.  ... 
doi:10.7166/32-1-2293 fatcat:hs2ekf55bfb27dyunj4exxuse4

Table of Contents

2020 IEEE Robotics and Automation Letters  
Martia, and H. Marvi 1319 Safe Robot Navigation Via Multi-Modal Anomaly Detection . . . . . . . . . . . . . . . . . L. Wellhausen, R. Ranftl, and M.  ...  Alspach , and R. Tedrake 1811 Exploiting Bias for Cooperative Planning in Multi-Agent Tree Search . . . . . . . . . . . . . . . . A. Ma, M. Ouimet, and J.  ... 
doi:10.1109/lra.2020.2987582 fatcat:3qafzip5xrg5jliyngq4xxvjha

Robotic Home-Based Rehabilitation Systems Design: From a Literature Review to a Conceptual Framework for Community-Based Remote Therapy During COVID-19 Pandemic

Aylar Akbari, Faezeh Haghverd, Saeed Behbahani
2021 Frontiers in Robotics and AI  
In this paper, a comprehensive review on developed home-based rehabilitation technologies of the last 10 years (2011–2020), categorizing them into upper and lower limb devices and considering both commercialized  ...  and state-of-the-art realms.  ...  In the last level, the planned mechanical motion has to be implemented via the state space control level.  ... 
doi:10.3389/frobt.2021.612331 fatcat:ndlb25ablnhyvpsykdspdl3ef4

Morphological computation in haptic sensation and interaction: from nature to robotics

Julius E. Bernth, Van Anh Ho, Hongbin Liu
2018 Advanced Robotics  
The requirements of such sensing systems can be complex, however.  ...  Haptics, or the sense of touch, has played an important role in enhancing the versatility and capabilities of robots.  ...  As a result, there is also a great deal of research in the fabrication of tactile systems that mimic the same multi-modalities of human tactile perception.  ... 
doi:10.1080/01691864.2018.1447393 fatcat:eerhebcno5aohjhrnzpl6gorj4
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