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Robotic grasping has been hindered by the inability of robots to perceive unstructured environments. Because these environments can be complex or dynamic, it is important to obtain additional and precise sensing information just before grasping. This paper expands upon the pretouch modality by introducing a transmissive optical sensor. It can unambiguously indicate the presence or lack of objects...
This paper presents a unified framework to enable automatic exploration with a pretouch sensor to reduce object shape uncertainty before grasping. The robot starts with only the incomplete object shape data it acquires from a Kinect depth sensor—it has no model of the object. Combining the Kinect pointcloud with prior probability distributions for occlusion and transparency, it makes inferences about...
Recent advances in neuroscience and robotics have allowed initial demonstrations of brain-computer interfaces (BCIs) for controlling wheeled and humanoid robots. However, further advances have proved challenging due to the low throughput of the interfaces and the high degrees-of-freedom (DOF) of the robots. In this paper, we build on our previous work on Hierarchical BCIs (HBCIs) which seek to mitigate...
Interaction with unstructured groups of objects allows a robot to discover and manipulate novel items in cluttered environments. We present a framework for interactive singulation of individual items from a pile. The proposed framework provides an overall approach for tasks involving operation on multiple objects, such as counting, arranging, or sorting items in a pile. A perception module combined...
We present a novel and simple experimental method called physical human interactive guidance to study human-planned grasping. Instead of studying how the human uses his/her own biological hand or how a human teleoperates a robot hand in a grasping task, the method involves a human interacting physically with a robot arm and hand, carefully moving and guiding the robot into the grasping pose, while...
Humans are adept at grasping different objects robustly for different tasks. Robotic grasping has made significant progress, but still has not reached the level of robustness or versatility shown by human grasping. It would be useful to understand what parameters (called grasp measures) humans optimize as they grasp objects, how these grasp measures are varied for different tasks, and whether they...
Pretouch sensing is longer range than contact, but shorter range than vision. The hypothesis motivating this work is that closed loop feedback based on short range but non-contact measurements can improve the reliability of manipulation. This paper presents a grasping system that is guided at short range by Electric Field (EF) Pretouch. We describe two sets of experiments. The first set of experiments...
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