76 citations · 174 across the 9 of their papers we have counts for
9 papers
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features
Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki
Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interac…
Constrained Generative Sampling of 6-DoF Grasps
Jens Lundell, Francesco Verdoja, Tran Nguyen Le +3
Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable…
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka +1
Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question.…
Deformation-Aware Data-Driven Grasp Synthesis
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka +1
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans a…
Towards synthesizing grasps for 3D deformable objects with physics-based simulation
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka +1
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of ph…
Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps
Jens Lundell, Enric Corona, Tran Nguyen Le +5
While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reaso…
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements
Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka +1
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however…
A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping
Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le +2
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-ro…
Safe Grasping with a Force Controlled Soft Robotic Hand
Tran Nguyen Le, Jens Lundell, Ville Kyrki
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been propos…