Recent progress in tactile sensing and sensors for robotic manipulation: can we turn tactile sensing into vision?1
Sign Up to like & getrecommendations! Published in 2019 at "Advanced Robotics"
DOI: 10.1080/01691864.2019.1632222
Abstract: This paper surveys recently published literature on tactile sensing in robotic manipulation to understand effective strategies for using tactile sensing and the issues involved in tactile sensing. It consists of a brief review of existing… read more here.
Keywords: tactile sensing; sensors robotic; robotic manipulation; vision ... See more keywords
Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects
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DOI: 10.1109/lra.2020.2972837
Abstract: We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. We provide… read more here.
Keywords: semi deformable; deformable objects; bimanual robotic; robotic manipulation ... See more keywords
Visibility Maximization Controller for Robotic Manipulation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3188430
Abstract: Occlusions caused by a robot’s own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired goal pose.… read more here.
Keywords: robotic manipulation; controller; visibility maximization; controller robotic ... See more keywords
Semantic Grasping Via a Knowledge Graph of Robotic Manipulation: A Graph Representation Learning Approach
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191194
Abstract: Semantic grasping aims to make stable robotic grasps suitable for specific object manipulation tasks. While existing semantic grasping models focus only on the grasping regions of objects based on their affordances, reasoning about which gripper… read more here.
Keywords: robotic manipulation; semantic grasping; knowledge graph; graph ... See more keywords
Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3146967
Abstract: This paper presents a learning based motion planning method for robotic manipulation, aiming to solve the asymptotically-optimal motion planning problem with nonlinear kinematics in a complex environment. The core of the proposed method is based… read more here.
Keywords: robotic manipulation; motion; planning; motion planning ... See more keywords
Solving Robotic Manipulation With Sparse Reward Reinforcement Learning Via Graph-Based Diversity and Proximity
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3172754
Abstract: In multigoal reinforcement learning (RL), algorithms usually suffer from inefficiency in the collection of successful experiences in tasks with sparse rewards. By utilizing the ideas of relabeling hindsight experience and curriculum learning, some prior works… read more here.
Keywords: reinforcement learning; hgg; robotic manipulation; graph based ... See more keywords
Model Predictive Interaction Control for Robotic Manipulation Tasks
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3196607
Abstract: This article presents the concept of model predictive interaction control (MPIC) as a generic, flexible, and comprehensive approach for robotic manipulation tasks. MPIC is based on the repetitive solution of an optimal control problem that… read more here.
Keywords: predictive interaction; robotic manipulation; interaction control; control ... See more keywords