Zobrazeno 1 - 10
of 109
pro vyhledávání: '"Haninger, Kevin"'
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and insertion of plugs, as well as the manipulation of cables, have been show
Externí odkaz:
http://arxiv.org/abs/2404.10829
Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving force capaci
Externí odkaz:
http://arxiv.org/abs/2310.04846
Planning over discontinuous dynamics is needed for robotics tasks like contact-rich manipulation, which presents challenges in the numerical stability and speed of planning methods when either neural network or analytical models are used. On the one
Externí odkaz:
http://arxiv.org/abs/2310.04822
Autor:
Hartisch, Richard, Haninger, Kevin
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, requiring compensation of alignment errors while applying sufficient force in the insertion direction, ideally at high speeds and while graspin
Externí odkaz:
http://arxiv.org/abs/2307.15589
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support robust and
Externí odkaz:
http://arxiv.org/abs/2303.17481
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extra
Externí odkaz:
http://arxiv.org/abs/2303.17476
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a common industr
Externí odkaz:
http://arxiv.org/abs/2301.08431
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for adapting r
Externí odkaz:
http://arxiv.org/abs/2208.07035
Autor:
Chang, Chunyang, Haninger, Kevin, Shi, Yunlei, Yuan, Chengjie, Chen, Zhaopeng, Zhang, Jianwei
Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs have been ex
Externí odkaz:
http://arxiv.org/abs/2203.07191
Autor:
Hartisch, Richard, Haninger, Kevin
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes compliant s
Externí odkaz:
http://arxiv.org/abs/2203.07130