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
Task analysis
A Multiarm Robotic Platform for Scientific Exploration: Its Design, Digital Twins, and Validation
There are a large number of robotic platforms with two or more arms targeting surgical applications. Despite that, very few groups have employed such platforms for scientific exploration. Possible applications of a multi-arm platform in scientific exploration involve the study of the mechanisms of intractable diseases by using organoids, i.e., miniature human organs) The study … [Read more...] about A Multiarm Robotic Platform for Scientific Exploration: Its Design, Digital Twins, and Validation
Digital Robot Judge: Building a Task-Centric Performance Database of Real-World Manipulation With Electronic Task Boards
Robotics aims to develop manipulation skills approaching human performance. However, skill complexity is often over- or underestimated based on individual experience, and the real-world performance gap is difficult or expensive to measure through in-person competitions. To bridge this gap, we propose a compact, internet-connected, electronic task board to measure manipulation … [Read more...] about Digital Robot Judge: Building a Task-Centric Performance Database of Real-World Manipulation With Electronic Task Boards
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
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
Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References
This paper presents a robust and reliable humanrobot collaboration framework for bimanual manipulation. We propose an optimal motion adaptation method to retarget arbitrary human commands to feasible robot pose references while maintaining payload stability. The framework comprises three modules: (1) Task-Space Sequential Equilibrium and Inverse Kinematics Optimization for … [Read more...] about Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References
