Related papers: A Laser-based Dual-arm System for Precise Control …
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to transport the hand into the vicinity of an object, and using…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…
Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…
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…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…