9 papers
Arm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
Yongyi Jia, Yongpeng Jiang, Kangchen Lv +3
Dexterous grasp generation that considers arm-related constraints is crucial in real-world scenarios involving arm environment collision avoidance, workspace boundary grasps, and c…
CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +2
While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertain…
HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4
Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanual grasps. Existing dexterous grasp synthesis methods reduce the hig…
Kinematics-Aware Diffusion Policy with Consistent 3D Observation and Action Space for Whole-Arm Robotic Manipulation
Kangchen Lv, Mingrui Yu, Yongyi Jia +2
Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object intera…
Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution
Mingrui Yu, Yongpeng Jiang, Chen Chen +2
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter fo…
Flow-Aware Navigation of Magnetic Micro-Robots in Complex Fluids via PINN-Based Prediction
Yongyi Jia, Shu Miao, Jiayu Wu +3
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and…
Non-contact Dexterous Micromanipulation with Multiple Optoelectronic Robots
Yongyi Jia, Shu Miao, Ao Wang +4
Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current…
Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation
Yongyi Jia, Shu Miao, Junjian Zhou +3
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications…
Contact-Aware Non-prehensile Robotic Manipulation for Object Retrieval in Cluttered Environments
Yongpeng Jiang, Yongyi Jia, Xiang Li
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compac…