Related papers: Object Servoing of Differential-Drive Robots

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…

In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…

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).…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…

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…

With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…

In this study, we investigate object grasping by visual servoing in a low-rigidity robot. It is difficult for a low-rigidity robot to handle its own body as intended compared to a rigid robot, and calibration between vision and body takes…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…