26 papers · ranked by Valyu relevance
Dong Han, Beni Mulyana, Vladimir Stankovic, Samuel Cheng + 1 more
'Alberto Borboni'] Robotic manipulation challenges, such as grasping and object manipulation, have been tackled successfully with the help of deep reinforcement learning systems. We give an overview of the recent advances in deep reinforcement learning algorithms for robotic manipulation tasks in this review. We begin…
Edgar Welte, Rania Rayyes
Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and interact with everyday objects, mastering dexterous manipulation is critical…
Zhao-Heng Yin, Guanya Shi, Pieter Abbeel, C. Karen Liu
Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate internal degrees of freedom and contact-rich interactions. While prior work has largely focused on rigid objects, articulated tool use remains underexplored because of its physical complexity and the difficulty…
Sri Harsha Turlapati, Domenico Campolo, Aiguo Song
Vision is the main component of current robotics systems that is used for manipulating objects. However, solely relying on vision for hand−object pose tracking faces challenges such as occlusions and objects moving out of view during robotic manipulation. In this work, we show that object kinematics can be inferred…
Chunmiao Yu, Peng Wang
With the increasing demand for the dexterity of robotic operation, dexterous manipulation of multi-fingered robotic hands with reinforcement learning is an interesting subject in the field of robotics research. Our purpose is to present a comprehensive review of the techniques for dexterous manipulation with…
Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay, Avishai Sintov
—Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human environment, and for their ability to replace manpower. In recent decades…
Oliver Kroemer, Scott Niekum, George Konidaris
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot manipulation, which aims to exploit the increasing availability of affordable robot arms…
Stefano Carpin, Shuo Liu, Joe Falco, Karl Van Wyk
It has been argued that grasping, manipulation, and speech are among the most fundamental human abilities unparalleled by animals [7]. The importance of manipulation and grasping is also evidenced by "the large fraction of the human motor cortex devoted to manipulation and the number and sensitivity of mechanoreceptors…
Ivan Stepanov, Noah R. Gottshall, Alireza Ahmadianyazdi, Daksh Sinha + 7 more
The scarcity of human biopsies available for drug testing is a paramount challenge for developing new therapeutics, disease models, and personalized treatments. Microtechnologies that combine the microscale manipulation of tissues and fluids offer the exciting possibility of miniaturizing both disease models and drug…
Walter G. Bircher, Andrew S. Morgan, Aaron M. Dollar
Humans regularly use all inner surfaces of the hand during manipulation, whereas traditional formulations for robots tend to use only the tips of their fingers, limiting overall dexterity. In this paper, we explore the use of the whole hand during spatial robotic dexterous within-hand manipulation. We present a novel…
Charles C. Kemp, Aaron Edsinger, Henry Clever, Blaine Matulevich
— Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks restricting capabilities. We present a novel design that reduces size, weight, and…
LE Than, LE An
In this paper, we focus on developing our new approaches to solve Inverse Kinematics using Vector Calculus and integrating the ANFIS module. Specifically, these approaches are evaluated in term of accuracy and performance on the 5-DOF robotic arm model inspired by the human arm structure. Evaluation for our new…
Francisco J. Naranjo-Campos, Juan G. Victores, Carlos Balaguer, Xiaojie Wang
'Xiaojie Wang'] This paper introduces a novel approach to robotic assistance in bottle opening using the dual-arm robot TIAGo++. The solution enhances accessibility by addressing the needs of individuals with injuries or disabilities who may require help with common manipulation tasks. The aim of this paper is to…
Francesca Negrello, Hannah S. Stuart, Manuel G. Catalano
Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors-fixtures, grippers or hands-as these machines perform manual…
Authors not listed
Process chemistry creates scalable routes for new lead molecules and is a crucial but laborious stage in pharmaceutical and agrochemical development cycles. We have built an automated process chemistry platform that tackles late-stage process development. The modular workflow integrates both industry-standard tools and…
Kento Nakatsuru, Weiwei Wan, Kensuke Harada
Design/methodology/approach: The paper proposes a single-short probabilistic roadmap-based method to plan and optimize manipulation motion with environment support. The method uses an expanded object mesh model to examine contact and randomly explores object motion while keeping contact and securing affordable grasping…
B Barra, M Badi, MG Perich, S Conti + 9 more
Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently rich repertoire of behavioral signals. Here, we developed a robotic platform…
Authors not listed
In experimental chemistry, actions are adjusted based on what we see—such as dosing until dissolution, heating until melting, or stirring until mixing is complete. However, current self-driving labs (SDLs) do not monitor these visual cues. HeinSight 4.0 fills this gap by integrating computer vision into SDLs to enable…
Scott D. Kennedy, Andrew B. Schwartz
We act on the world by producing forces that move objects. During manipulation, force is exerted with the expectation that an object will move in an intended manner. This prediction is a learned coordination between force and displacement. Mechanically, impedance is a way to describe this coordination. As an efficient…
Alice Melocchi, Brigitte Schmittlein, Alexis L. Jones, Yasmine Ainane + 27 more
The production of commercial autologous cell therapies such as chimeric antigen receptor T cells requires complex manual manufacturing processes. Skilled labor costs and challenges in manufacturing scale-out have contributed to high prices for these products. Here, we present a robotic system that uses…
Authors not listed
This paper details a 3D-printed plate handler designed to address the limitation of automated plate manipulation within the Opentrons OT-2 liquid handling robot. The hardware enables precise, automated labware transfer, expanding the OT-2’s capabilities for complex biological and chemical assays. Technically, it…
Hidetoshi Ikeda, Yuta Mizukami, Masahiro Sakamoto, Takumi Saeki + 5 more
'Hokyoo Lee' 'Masakazu Hori' 'Shuangyi Wang' 'Xianqiang Bao' 'James Housden'] This paper proposes a page-turning strategy using an assistive robot that has a low-degree-of-freedom robotic hand. The robotic hand is based on human object handling characteristics, which significantly reduces the number of fingers and…
Authors not listed
This comprehensive review examines the evolution of autonomous materials synthesis laboratories that integrate artificial intelligence with advanced robotics to accelerate discovery. Traditional materials development pipelines typically require 10-20 years, but self-driving laboratories (SDLs) and Materials…
D. Kuhner, L.D.J. Fiederer, J. Aldinger, F. Burget + 7 more
As autonomous service robots become more affordable and thus available for the general public, there is a growing need for user-friendly interfaces to control these systems. Control interfaces typically get more complicated with increasing complexity of the robotic tasks and the environment. Traditional control…
Noah I. Eckstein, Matthew Lerner, Manoj Srinivasan
Humans’ ability to grasp and dynamically manipulate objects with their hands is unmatched by current robots. To better understand human dynamic manipulation, we studied dice stacking, a task in which humans form a vertical stack of dice from a set of initially unstacked playing dice using an overturned cup and the…
Aidan Slattery, Zhenghui Wen, Pauline Tenblad, Diego Pintossi + 3 more
The optimization, intensification, and scaling up of chemical processes are essential and time-consuming aspects of contemporary chemical manufacturing, necessitating expertise and precision due to their intricate and sensitive nature. However, these process development problems are often carried out independently and…