Related papers: Multi-Sensor Surface Analysis for Robotic Ironing
In this work we propose a new online, low cost and fast approach based on computer vision and machine learning to determine whether cutting tools used in edge profile milling processes are serviceable or disposable based on their wear…
Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the…
Achieving efficient, high-fidelity, high-resolution garment simulation is challenging due to its computational demands. Conversely, low-resolution garment simulation is more accessible and ideal for low-budget devices like smartphones. In…
Combining experiments with artificial intelligence algorithms, we propose a new machine learning based approach to extract the cellular force distributions from the microscope images. The full process can be divided into three steps. First,…
Evaluating surgeon skill has predominantly been a subjective task. Development of objective methods for surgical skill assessment are of increased interest. Recently, with technological advances such as robotic-assisted minimally invasive…
We present DeepClaw as a reconfigurable benchmark of robotic hardware and task hierarchy for robot learning. The DeepClaw benchmark aims at a mechatronics perspective of the robot learning problem, which features a minimum design of robot…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. We present a supervised deep transfer learning approach to…
This paper proposes a method for computing the visible occluding contours of subdivision surfaces. The paper first introduces new theory for contour visibility of smooth surfaces. Necessary and sufficient conditions are introduced for when…
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…
Segmenting skin lesions from dermoscopic images is essential for diagnosing skin cancer. But the automatic segmentation of these lesions is complicated due to the poor contrast between the background and the lesion, image artifacts, and…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
In laparoscopy surgical training and evaluation, real-time detection of surgical actions with interpretable outputs is crucial for automated and real-time instructional feedback and skill development. Such capability would enable…
Slip and crumple detection is essential for performing robust manipulation tasks with a robotic hand (RH) like remote surgery. It has been one of the challenging problems in the robotics manipulation community. In this work, we propose a…
Machine-learning models applied to skin images often have degraded performance when the skin colour captured in images (SCCI) differs between training and deployment. These discrepancies arise from a combination of entangled environmental…
Image processing techniques have huge impact on most fields of robotics and industrial automation. Real time methods are usually employed in complex automation tasks, assisting with decision making or directly guiding robots and machinery,…
Skinning is a popular way to rig and deform characters for animation, to compute reduced-order simulations, and to define features for geometry processing. Methods built on skinning rely on weight functions that distribute the influence of…
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing. Although dual-arm systems can mitigate some of these…
Developable surfaces are commonly observed in various applications such as architecture, product design, manufacturing, mechanical materials, and data physicalization as well as in the development of tangible interaction and deformable…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…