Dexterous manipulation of cloth
WebJun 21, 2024 · Abstract. Dexterous manipulation is one of the primary goals in robotics. Robots with this capability could sort and package objects, chop vegetables, and fold clothes. As robots come to work side by side with humans, they must also become human-aware. Over the past decade, research has made strides toward these goals. WebAbstract. Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation even at the baby level are challenging to solve through reinforcement learning (RL). The difficulty lies in the high degrees of freedom and the required cooperation among heterogeneous agents (e.g., joints of fingers).
Dexterous manipulation of cloth
Did you know?
WebApr 10, 2024 · Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Even in simulation with no sample constraints, scripting controllers is intractable due to high degrees of freedom, and manual reward engineering can also be hard and lead to non-realistic motions. Leveraging the … WebThis paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes appropriate joint torques for physically simulated hands, such that, via contact forces, the result of cloth simulation follows the desired motion. Instead of optimizing the hand control forces …
WebReinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics interaction with deformable objects. At the same time, previous trajectory optimization approaches with differentiable physics for deformable manipulation would suffer from local optima caused by the ... WebOct 20, 2024 · Dexterous magnetic manipulation of ferromagnetic objects is well established, with three to six degrees of freedom possible depending on object geometry …
WebThis paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes appropriate joint … WebDexterous Manipulation of Cloth, Yunfei Bai, Wenhao Yu (co-first author), and C. Karen Liu, in Computer Graphics Forum (Eurographics), 2016 [PDF] 17. Multiple Contact Planning for Minimizing Damage of Humanoid Falls, Sehoon Ha, and C. Karen Liu, in IEEE/RSJ International Conference on Intelligent Robots and
Web2 hours ago · “ The purely optical manipulation of material properties, on the other hand, could take physics into a new era by enabling new functions on demand.” Exciting …
WebMay 1, 2016 · A new technique to synthesize dexterous manipulation of cloth by forming a model‐predictive‐control problem as a quadratic program at each time step that provides commanding forces that achieve the desired cloth motion described by the user, while respecting the kinematic constraints of the hands. This paper introduces a new technique … raymond james womens symposium 2022WebDexterous Manipulation of Cloth Bai, Yunfei; Yu, Wenhao; Liu, C. Karen (The Eurographics Association and John Wiley & Sons Ltd., 2016) This paper introduces a … raymond james worcesterWebWe develop a light-weight interface so that the rigid body and cloth simulators communicate on a demand-driven manner to achieve two main goals: allow the rigid bodies to impart … simplified chinese pokemonWebThis paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes … raymond james wiring instructionsWebThis project brings together concepts from non-smooth dynamics, learning, and control, to enable robots that perform dexterous manipulation of previously unseen objects, using data gathered in real time from a cluttered environment. For example, a robot may interact with a set of novel objects for at most a few seconds or minutes, then ... simplified chinese plzWebDec 4, 2024 · In order to learn a prolonged sequence of motion involving a diverse set of manipulation skills, such as grasping the edge of the shirt or pulling on a sleeve, we find it necessary to separate the dressing task into several subtasks and learn a control policy for each subtask. ... Dexterous manipulation of cloth. In Computer Graphics Forum, Vol ... simplified chinese pokemon cardsWebAbstract. We present a robot that enables high-content studies of alert adult Drosophila by combining operations including gentle picking; translations and rotations; characterizations of fly phenotypes and behaviors; microdissection; or release.To illustrate, we assessed fly morphology, tracked odor-evoked locomotion, sorted flies by sex, and dissected the … simplified chinese radicals