Related papers: Fast Object Inertial Parameter Identification for …
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
Many computer vision and image processing applications rely on local features. It is well-known that motion blur decreases the performance of traditional feature detectors and descriptors. We propose an inertial-based deblurring method for…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
This study addresses the need for accurate and efficient object detection in assistive technologies for visually impaired individuals. We evaluate four real-time object detection algorithms YOLO, SSD, Faster R-CNN, and Mask R-CNN within the…
The calibration of (low-cost) inertial sensors has become increasingly important over the past years since their use has grown exponentially in many applications going from unmanned aerial vehicle navigation to 3D-animation. However, this…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
In this paper, we analyze the robustness of the PSO-based approach to parameter estimation of robot dynamics presented in Part One. We have made attempts to make the PSO method more robust by experimenting with potential cost functions. The…
Current robotic haptic object recognition relies on statistical measures derived from movement dependent interaction signals such as force, vibration or position. Mechanical properties that can be identified from these signals are intrinsic…
This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks. Key features include the use of an off-the-shelf physics engine…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…