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Soft actuator is the main technology that drives the development of soft robotics as it defines the capabilities of soft machines. One of the key challenges in soft actuator research is to simultaneously produce complex morphing (e.g., surface morphing) an ...
An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In ou ...
Elsevier2016
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To perform robust grasping, a multi-fingered robotic hand should be able to adapt its grasping configuration, i.e., how the object is grasped, to maintain the stability of the grasp. Such a change of grasp configuration is called grasp adaptation and it de ...
Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly w ...
The human hand is an amazing tool, demonstrated by its incredible motor capability and remarkable sense of touch. To enable robots to work in a human-centric environment, it is desirable to endow robotic hands with human-like capabilities for grasping and ...
Object manipulation is a challenging task for robotics, as the physics involved in object interaction is com- plex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly ...
Springer Verlag2015
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Humans have an incredible capacity to learn properties of objects by pure tactile exploration with their two hands. With robots moving into human-centred environment, tactile exploration becomes more and more important as vision may be occluded easily by o ...
We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile, and proprioceptive feedback. The main objective of the proposed framework is to enable fingertip grasping by addressing problems of changed weight of the ...
Institute of Electrical and Electronics Engineers2016
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Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issu ...
To perform robust grasping, a multi-fingered robotic hand should be able to adapt its grasping configuration, i.e., how the object is grasped, to maintain the stability of the grasp. Such a change of grasp configuration is called grasp adaptation and it de ...
