Projects

Sat 28 September 2019

Minimal work grasps for 3D deformable hollow objects

Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as a novel grasp quality metric that combines wrench resistance and the object deformation. [Paper] [Video]

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Plastic cup example. Left: stiffness of cup, red indicates a low stiffness. Middle: three planned grasps, red indicates high work. Right: minimal work grasp in physical experiment.


Grasp analysis for deformable gripper jaws

When an object is grasped with a soft finger, the contact area might be non-planar. This work presents a friction model for non-planar area contacts and its application to grasp posture estimation. [Paper: ICRA 2017] [Spotlight Talk] [Poster]

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System Setup
Tactile Sensors
by Visevi Robotics
Friction analysis of an example location of the center of rotation (COR) axis and the limit surface of this contact.

Learning-based modular task-oriented grasp stability assessment

A learning-based approach for grasp stability assessment is usually trained for a specific task, such as lifting, hand-over, or pouring. Directly applying the same model to a new task might cause unnecessary grasp adaptations or a failure of the action.
To address this issue, we divide a manipulation task into several sub-tasks, defined as modular tasks. We train the models to estimate the grasp stability of modular tasks, such that they can be flexibly combined and adapted to new manipulation actions. [Paper: IROS 2018] [Video]


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A dataset of thin-walled deformable objects

We present a dataset of synthetic thin-walled object models with volumetric representations, which is generated based on 13 physical objects. [Paper] [Dataset]

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