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In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
This paper addresses the challenges of vision-based manipulation for autonomous cutting and unpacking of transparent plastic bags in industrial setups, aligning with the Industry 4.0 paradigm. Industry 4.0, driven by data, connectivity,…
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…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
This paper considers the problem of designating navigation goal locations for interactive mobile robots. We propose a point-and-click interface, implemented with an Augmented Reality (AR) headset. The cameras on the AR headset are used to…
We propose a novel formulation of robotic pick and place as a deep reinforcement learning (RL) problem. Whereas most deep RL approaches to robotic manipulation frame the problem in terms of low level states and actions, we propose a more…
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…
We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…
In this paper, a kinematically modular approach to robot control is presented. The method involves structures called Elementary Dynamic Actions and a network model combining these elements. With this control framework, a rich repertoire of…
In this work, we describe a multi-object grasping benchmark to evaluate the grasping and manipulation capabilities of robotic systems in both pile and surface scenarios. The benchmark introduces three robot multi-object grasping…
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…