Related papers: Multi-Sensor Surface Analysis for Robotic Ironing
Applying micro-patterns to surfaces has been shown to impart useful physical properties such as drag reduction and hydrophobicity. However, current manufacturing techniques cannot produce micro-patterned surfaces at scale due to high-cost…
Surface reconstruction with preservation of geometric features is a challenging computer vision task. Despite significant progress in implicit shape reconstruction, state-of-the-art mesh extraction methods often produce aliased,…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
This paper presents a hybrid algorithm that combines features form both Sqrt(3) and Loop Subdivision schemes. The algorithm aims at preserving sharp features and trim regions, during the surfaces subdivision, using a set of rules. The…
We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…
Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
We investigate discrete spin transformations, a geometric framework to manipulate surface meshes by controlling mean curvature. Applications include surface fairing -- flowing a mesh onto say, a reference sphere -- and mesh extrusion --…
Object shaping by grinding is a crucial industrial process in which a rotating grinding belt removes material. Object-shape transition models are essential to achieving automation by robots; however, learning such a complex model that…
Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…
In this paper, we formulate a simple algorithm that detects contours around a region of interest in an image. After an initial smoothing, the method is based on viewing an image as a topographic surface and finding convex and/or concave…
Seam carving is a computational method capable of resizing images for both reduction and expansion based on its content, instead of the image geometry. Although the technique is mostly employed to deal with redundant information, i.e.,…
The realm of textiles spans clothing, households, healthcare, sports, and industrial applications. The deformable nature of these objects poses unique challenges that prior work on rigid objects cannot fully address. The increasing interest…
Garment manipulation is a significant challenge for robots due to the complex dynamics and potential self-occlusion of garments. Most existing methods of efficient garment unfolding overlook the crucial role of standardization of flattened…
Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
Scrubbing surfaces is a physically demanding and time-intensive task. Removing adhered contamination requires substantial friction generated through pressure and torque or high lateral forces. Rigid robotic manipulators, while capable of…
The problem of polycube construction or deformation is an essential problem in computer graphics. In this paper, we present a robust, simple, efficient and automatic algorithm to deform the meshes of arbitrary shapes into their polycube…
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By…