Related papers: Multi-Pen Robust Robotic 3D Drawing Using Closed-L…
We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…
The range and speed of direct ink writing, the workhorse of 3d and 4d printing, is limited by the practice of liquid extrusion from a nozzle just above the surface to prevent instabilities to cause deviations from the required print path.…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…
We propose a system to deliver dynamic guidance in drawing, sketching and handwriting tasks via an electromagnet moving underneath a high refresh rate pressure sensitive tablet. The system allows the user to move the pen at their own pace…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
We present an automated learning framework for a robotic sketching agent that is capable of learning stroke-based rendering and motor control simultaneously. We formulate the robotic sketching problem as a deep decoupled hierarchical…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
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…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while…
Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
Robotic reproduction of oil paintings using soft brushes and pigments requires force-sensitive control of deformable tools, prediction of brushstroke effects, and multi-step stroke planning, often without human step-by-step demonstrations…