Dan Reznik John Canny EECS Dept., UC-Berkeley, CA 94720-1776 USA Abstract We consider the problem of parallel part manipulation, i.e., the simultaneous position and orientation control of one or more parts in a bounded region of the plane. We propose a novel, minimalist device, based on a single horizontallyvibrating at plate. We show that a closed rigid motion of the plate, involving its 3 dof...

The evolution of the prehensile tail illustrates the impact habitat can have on structural traits. Prehensile primates are able to support their entire body weight using only their tail, which opens up new feeding opportunities in their arboreal environments. This trait evolved separately in two families of New World monkeys. A transitional behaviour in its proposed evolutionary mechanism is ta...

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its man...

In this paper, we propose a multi-task learning from demonstration method that works using raw images as input to autonomously accomplish a wide variety of tasks in the real world using a low-cost robotic arm. The controller is a single recurrent neural network that can generate robot arm trajectories to perform different manipulation tasks. In order to learn complex skills from relatively few ...

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled...

Robotic manipulation in cluttered environments is one of the challenges roboticists are currently facing. When objects to handle delicate fresh fruits, grasping even more challenging. Detecting and localizing fruits with accuracy necessary grasp them very difficult due large variability aspect dimensions each item. This paper proposes a solution that exploits state-of-the-art neural network nov...

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more precise and collision-free. In this work, we demonstrate that it is possible to discover and learn th...

We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The utilizes two-degree-of-freedom five-bar linkage as the palm gripper, with three three-phalanx fingers, jointly controlled by single actuator, connected mobile revolute joints palm. Three actuators are used in system total, one for controlling...