Zobrazeno 1 - 10
of 167
pro vyhledávání: '"Katzschmann, Robert"'
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model predictive
Externí odkaz:
http://arxiv.org/abs/2411.06183
Dexterous robotic manipulation remains a significant challenge due to the high dimensionality and complexity of hand movements required for tasks like in-hand manipulation and object grasping. This paper addresses this issue by introducing Vector Qua
Externí odkaz:
http://arxiv.org/abs/2411.03556
Autor:
Obrist, Jan, Zamora, Miguel, Zheng, Hehui, Hinchet, Ronan, Ozdemir, Firat, Zarate, Juan, Katzschmann, Robert K., Coros, Stelian
Data-driven methods have shown great potential in solving challenging manipulation tasks, however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this, we propose PokeFlex, a datas
Externí odkaz:
http://arxiv.org/abs/2410.07688
Autor:
Obrist, Jan, Zamora, Miguel, Zheng, Hehui, Zarate, Juan, Katzschmann, Robert K., Coros, Stelian
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable objects and the
Externí odkaz:
http://arxiv.org/abs/2409.17124
Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artificial muscle systems are typically limited to either contraction or exten
Externí odkaz:
http://arxiv.org/abs/2409.11017
Autor:
Bauer, Erik, Blöchlinger, Marc, Strauch, Pascal, Raayatsanati, Arman, Cavelti, Curdin, Katzschmann, Robert K.
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers
Externí odkaz:
http://arxiv.org/abs/2409.07662
Autor:
Egli, Jana, Forrai, Benedek, Buchner, Thomas, Su, Jiangtao, Chen, Xiaodong, Katzschmann, Robert K.
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide ra
Externí odkaz:
http://arxiv.org/abs/2404.19448
Autor:
Buchner, Thomas, Weirich, Stefan, Kübler, Alexander M., Matusik, Wojciech, Katzschmann, Robert K.
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would further our und
Externí odkaz:
http://arxiv.org/abs/2404.19077
In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different tasks could p
Externí odkaz:
http://arxiv.org/abs/2404.16483
Autor:
Christoph, Clemens C., Kazemipour, Amirhossein, Vogt, Michel R., Zhang, Yu, Katzschmann, Robert K.
Publikováno v:
2024 IEEE International Conference on Robotics and Automation (ICRA)
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness inherent in their
Externí odkaz:
http://arxiv.org/abs/2404.04079