Grasping

Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks: Gripper Design Boosts Learning

Abstract: In this work, we investigate how a state-of-the-art grasp planner based on deep reinforcement learning performs when applied to a soft–rigid gripper in a decluttering task. The gripper, called Soft ScoopGripper (SSG), is endowed with a rigid scoop-shaped part that facilitates the interaction with the environment and with objects. We hypothesize that the clever … [Read more...] about Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks: Gripper Design Boosts Learning

Autonomous and reliable robotic grasping is a desirable functionality in robotic manipulation and is still an open problem. Standardized benchmarks are important tools for evaluating and comparing robotic grasping and manipulation systems among different research groups, and also for sharing with the community the best practices to learn from errors. An ideal benchmarking … [Read more...] about The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems

In many practical cases, such as in logistics applications, grasping and manipulation of objects must be carried out in confined spaces with obstacles. Limited room is then available to manoeuvre and robotic devices can lack dexterity or be impaired by their size when performing in such cluttered environments. In this paper, we address this issue by proposing a novel agile … [Read more...] about Synthesis, Design, and Experimental Validation of an Agile Wrist for Enhanced Grasping and Manipulation in Cluttered Environments: An Experimental Evaluation With a Challenging Pick-and-Place Task

Population aging has highlighted the significance of developing home-care robots to assist human life. However, traditional home-care robots work according to fixed procedures, which lack human–robot interaction to mimic human hand action. Human–robot interfaces provide an opportunity for interactions between robots and users, which play an important role in home-care robots. … [Read more...] about Electronic Skin as Human–Robot Interface for Human Grasp Recognition in Home-Care Robots: Introducing a Complete Set of Resources

Picking and placing of objects by aerial robots in fields is an important and challenging task for a range of outdoor activities, including industry and rescue operations. General strategies depend on the magnetic force to the pick object; however, this approach lacks both generality and robustness. Therefore, we focus on an articulated structure to grasp bricking. Another … [Read more...] about Fully Autonomous Brick Pick and Place in Fields by Articulated Aerial Robot: Results in Various Outdoor Environments