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Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing…
In this paper, a method to mimic a human face and eyes is proposed which can be regarded as a combination of computer vision techniques and neural network concepts. From a mechanical standpoint, a 3-DOF spherical parallel robot is used…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
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…
Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use neural network encoders to extract image features and…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…
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…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an aging population, relatively simple and safe diagnosis tasks may need to be performed using robotics…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
In this article, we present a control strategy for the problem of safe autonomous docking for a planar floating platform (Slider) that emulates the movement of a satellite. Employing the proposed strategy, Slider approaches a docking port…
Flexible endoscopy requires high skills to manipulate both the endoscope and associated instruments. In most robotic flexible endoscopic systems, the endoscope and instruments are controlled separately by two operators, which may result in…
This paper presents a proposed method of autonomous control for docking tasks of a single-seat personal mobility vehicle. We proposed a non-linear model predictive control (NMPC) based visual servoing to achieves the desired autonomous…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…