Related papers: Multi 3D Camera Mapping for Predictive and Reflexi…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…
This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…
In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planning method and an inverse kinematic…
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…