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   Articles with "robotic manipulation" as a keyword



A framework for robotic manipulation tasks based on multiple zero shot models

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recommendations! Published in 2025 at "Scientific Reports"

DOI: 10.1038/s41598-025-17015-z

Abstract: Humans tackle unknown tasks by integrating information from multiple sensory modalities. Existing robotic frameworks struggle to achieve effective multimodal manipulation, especially when sufficient training data is lacking. This study introduces “Panda Act”, a novel robotic… read more here.

Keywords: shot models; framework robotic; zero shot; robotic manipulation ... See more keywords

Recent progress in tactile sensing and sensors for robotic manipulation: can we turn tactile sensing into vision?1

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recommendations! 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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recommendations! Published in 2020 at "IEEE Robotics and Automation Letters"

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

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recommendations! 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

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recommendations! 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

Don’t Let Your Robot Be Harmful: Responsible Robotic Manipulation via Safety-As-Policy

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3623027

Abstract: Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to consider potential… read more here.

Keywords: responsible robotic; safety; robotic manipulation; real world ... See more keywords
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Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation

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recommendations! 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

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recommendations! 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

Robotic Manipulation of Deformable Linear Objects via Multiview Model-Based Visual Tracking

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recommendations! Published in 2025 at "IEEE/ASME Transactions on Mechatronics"

DOI: 10.1109/tmech.2025.3562295

Abstract: The manipulation of deformable linear objects (DLOs)—such as electrical cables, wires, and hoses—is common in various industrial processes. Currently, this task is typically performed by human operators, making it labor-intensive, inefficient, and prone to errors.… read more here.

Keywords: deformable linear; linear objects; model; robotic manipulation ... See more keywords
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Model Predictive Interaction Control for Robotic Manipulation Tasks

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recommendations! 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

Occlusion-Robust Autonomous Robotic Manipulation of Human Soft Tissues With 3-D Surface Feedback

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recommendations! Published in 2024 at "IEEE Transactions on Robotics"

DOI: 10.1109/tro.2023.3335693

Abstract: Robotic manipulation of 3-D soft objects remains challenging in the industrial and medical fields. Various methods based on mechanical modeling, data-driven approaches or explicit feature tracking have been proposed. A unifying disadvantage of these methods… read more here.

Keywords: surface feedback; soft tissues; autonomous robotic; occlusion robust ... See more keywords