Robotics

We propose a novel concept called “Caging in Time” that enables robust object manipulation with a single end-effector under uncertainties and limited perception. This approach allows caging configurations to be formed in time, demonstrating effective open-loop manipulation without requiring detailed object knowledge or real-time feedback.

We propose a collision-inclusive planning framework for occluded object grasping that allows and exploits intentional collisions through compliant robot motions, demonstrating effective manipulation in scenarios where traditional collision-free approaches are insufficient.

The 2024 RGMC at ICRA featured five tracks testing autonomous robotic manipulation capabilities, drawing participation from teams worldwide to address challenges in manufacturing and essential manipulation skills.