The 3D shape of a robot's end-effector plays a critical role in determining it's functionality
and overall performance. Many of today's industrial applications rely on highly customized …

This paper presents a robot system for performing pick and place operations with
deformable objects. The system uses a structured light scanner to capture a point cloud of …

When humans perform contact-rich manipulation tasks, customized tools are often
necessary to simplify the task. For instance, we use various utensils for handling food, such …

We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple
objects. While optimizing general-purpose grippers and contact locations for grasps are both …

This study presents a straightforward method to teach robots to use tools. Teaching robots is
crucial in quickly deploying and reconfiguring robots in next‐generation factories …

In this work, we present a generic approach to optimize the design of a parametrized robot
gripper including both selected gripper mechanism parameters, and parameters of the finger …

Gripper design is nowadays an area of ongoing research activity. The problem of creating a
generic and automated gripper design approach tailored for a specific task is still far from …

Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on
expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can …

We present Dynamics-Guided Diffusion Model, a data-driven framework for generating
manipulator geometry designs for a given manipulation task. Instead of training different …

This paper presents an investigation of five optimization algorithms for simulation-based
optimization for robotic tasks, where robust solutions are required. We evaluate the …