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This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…
Selective laser melting is a promising additive manufacturing technology enabling the fabrication of highly customizable products. A major challenge in selective laser melting is ensuring the quality of produced parts, which is influenced…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
The rapid aging of societies is intensifying demand for autonomous care robots; however, most existing systems are task-specific and rely on handcrafted preprocessing, limiting their ability to generalize across diverse scenarios. A…
Diffusion models have proven to be highly effective in image and video generation; however, they encounter challenges in the correct composition of objects when generating images of varying sizes due to single-scale training data. Adapting…
Lensless cameras provide a framework to build thin imaging systems by replacing the lens in a conventional camera with an amplitude or phase mask near the sensor. Existing methods for lensless imaging can recover the depth and intensity of…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Manipulation surfaces indirectly control and reposition objects by actively modifying their shape or properties rather than directly gripping objects. These surfaces, equipped with dense actuator arrays, generate dynamic deformations.…
Capturing and re-animating the 3D structure of articulated objects present significant barriers. On one hand, methods requiring extensively calibrated multi-view setups are prohibitively complex and resource-intensive, limiting their…
Adaptive sparse coding methods learn a possibly overcomplete set of basis functions, such that natural image patches can be reconstructed by linearly combining a small subset of these bases. The applicability of these methods to visual…
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…
To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perspective motion control system for the newly…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…