Related papers: A Laser-based Dual-arm System for Precise Control …
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Robot learning is a very promising topic for the future of automation and machine intelligence. Future robots should be able to autonomously acquire skills, learn to represent their environment, and interact with it. While these topics have…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration. Compliant motions can be used in assembly…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…