Related papers: Mathematics in Caging of Robotics
Perception is an essential part of robotic manipulation in a semi-structured environment. Traditional approaches produce a narrow task-specific prediction (e.g., object's 6D pose), that cannot be adapted to other tasks and is ill-suited for…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…
Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…
In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target object from clutters is an essential while challenging skill for…
The work studies a number of approaches to solving motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can be…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…
In this thesis I discuss combinatorial optimization problems, from the statistical physics perspective. The starting point are the motivations which brought physicists together with computer scientists and mathematicians to work on this…
This paper presents a robotic manipulation technique for dexterous ungrasping. It refers to the capability of securely transferring a grasped object from the gripper to the robot's environment, i.e. the inverse of grasping or picking,…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
The labyrinth game is a simple yet challenging platform, not only for humans but also for control algorithms and systems. The game is easy to understand but still very hard to master. From a system point of view, the ball behaviour is in…
We initiate a general theory for analyzing the complexity of motion planning of a single robot through a graph of "gadgets", each with their own state, set of locations, and allowed traversals between locations that can depend on and change…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
In the context of Higman embeddings of recursive groups into finitely presented groups we suggest an algorithm which uses Higman operations to explicitly constructs the specific recursively enumerable sets of integer sequences arising…