Related papers: Detection and Physical Interaction with Deformable…
Robotic manipulation of deformable materials is a challenging task that often requires realtime visual feedback. This is especially true for deformable linear objects (DLOs) or "rods", whose slender and flexible structures make proper…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
This paper addresses the problem of automated vehicle tracking and recognition from aerial image sequences. Motivated by its successes in the existing literature focus on the use of linear appearance subspaces to describe multi-view object…
Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…
Deformable linear objects are vastly represented in our everyday lives. It is often challenging even for humans to visually understand them, as the same object can be entangled so that it appears completely different. Examples of deformable…
Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…
Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…
Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…
In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
Modeling deformable objects - especially continuum materials - in a way that is physically plausible, generalizable, and data-efficient remains challenging across 3D vision, graphics, and robotic manipulation. Many existing methods…
Existing methods for 3D tracking from monocular RGB videos predominantly consider articulated and rigid objects. Modelling dense non-rigid object deformations in this setting remained largely unaddressed so far, although such effects can…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
Accurate and robust modelling of large deformation three dimensional contact interaction is an important area of engineering, but it is also challenging from a computational mechanics perspective. This is particularly the case when there is…
For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…