Abstract—We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph.

2015年6月30日 · The feet and hands can easily grasp the rope just above the knots, allowing some muscular relaxation and preventing slips and rope burns. The feet are kept together, pressing the rope between the insteps.

2020年7月26日 · grib：握（细长的东西，grip the rope） grab ：抓（较常用的是突然去抓，grab one' hand suddenly，是最浅显的抓sth的含义） grasp ：抓住，抓紧（hold on的结果状态）

2016年5月21日 · We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph.

In this paper, we present a rope-based manipulator that can be equipped to robots' end-effectors and used to ensnare objects and interact with environmental infrastructure. The manipulator operates by accelerating a loop of rope into a free-floating lasso-like shape whose size can be adjusted on demand.

2016年5月1日 · Grasping unknown objects is a crucial necessity for robots that operate in an unstructured environment. In this paper, we propose a novel grasping algorithm that uses active vision as basis.

以空间飞行器在轨维修为研究背景，模拟其实验环境，设计了一套基于RGB-D的可移动绳驱超冗余机械臂定位抓取系统。 首先改进了Mask R-CNN算法，在保证检测精度的同时降低模型尺寸，通过Intel RealSense D435i采集图像输入到目标检测模型得到目标的类别和位置信息，进一步利用自适应末端位置更新算法递推机械臂的正逆运动学模型，并结合轨迹规划完成目标的三维空间定位和抓取。 实验结果表明，改进后的Mask R-CNN算法能在保证精度的情况下有效地降低模型尺寸， …

Once your rope is set and hanging over the bar, grasp the ends of the rope with one end in each hand and pull yourself off the ground. While you are hanging, with your feet off the ground, and grasping the rope, it is time to go to work. Quickly let go of the rope and immediately grasp the rope again before you slip off.

Code accompanying the paper "RoboWrangler: Toward Rope-based Grasping for Mobile Manipulation", accepted for publication at IEEE RoboSoft 2025 - leggedrobotics/robowrangler

2025年2月5日 · This paper presents the design and control of a lightweight three degrees of freedom robotic arm based on a load-adaptive hoisting mechanism. The proposed design integrates a spring-loaded rope and a variable radius reel into the gripper, enabling efficient load adaptability with minimal structural complexity.