6 papers
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
Arjun S. Lakshmipathy, Jonathan P. King, Ethan Zuo +6
Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interac…
Vision-guided Autonomous Dual-arm Extraction Robot for Bell Pepper Harvesting
Kshitij Madhav Bhat, Tom Gao, Abhishek Mathur +4
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…
Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation
Sunyu Wang, Arjun S. Lakshmipathy, Jean Oh +1
Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on…
The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands
Sunyu Wang, Jean Oh, Nancy S. Pollard
To wield an object means to hold and move it in a way that exploits its functions. When humans wield tools -- such as writing with a pen or cutting with scissors -- our hands would…
Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
Jonathan P. King, Harnoor Ahluwalia, Michael Zhang +1
This work presents a fast anytime algorithm for computing globally optimal independent contact regions (ICRs). ICRs are regions such that one contact within each region enables a v…