Хватіння та Внутрішньоручна Маніпуляція

Grasp Synthesis

Analytic methods and wrench space

Learning-based predictors and datasets

Control and Tactile

Force control, slip detection, and tactile-vision fusion for feedback. Precise force control is essential for grasping objects with varying stiffnesses. Slip detection algorithms monitor the interaction between the end-effector and the environment, allowing the system to adapt to changes in friction or contact forces. Tactile-vision fusion combines visual information with tactile data to provide a more comprehensive understanding of the grasped object's shape and properties.

Grasping Examples

Example 1: Grasping a Cube for Assembly Plan initial grasp and target pose. Execute the regrasp with tactile cues. Validate accuracy and success rates.

Example 2: Picking up a Small Tool This example demonstrates a more complex grasping scenario, requiring precise control of the hand. First, the robot needs to identify the tool's position and orientation. Then, it must plan a grasp that is stable and secure. Finally, the robot executes the grasp using tactile feedback to ensure accurate placement.

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