Related papers: Autonomously Untangling Long Cables
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular engages the public in a way that small-scale works cannot,…
Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…
Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…
Robot manipulation and grasping mechanisms have received considerable attention in the recent past, leading to the development of wide range of industrial applications. This paper proposes the development of an autonomous robotic grasping…
Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics…
Remote entanglement between widely separated qubits is a fundamental quantum phenomenon and a critical resource for quantum information applications. Generating entanglement between independent qubits separated by arbitrary, potentially…
In this paper, we propose a deep reinforcement learning (DRL) solution to the grasping problem using 2.5D images as the only source of information. In particular, we developed a simulated environment where a robot equipped with a vacuum…
Legged robots with advanced manipulation capabilities have the potential to significantly improve household duties and urban maintenance. Despite considerable progress in developing robust locomotion and precise manipulation methods,…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…
Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…
Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
Wire harnesses are essential connecting components in manufacturing industry but are challenging to be automated in industrial tasks such as bin picking. They are long, flexible and tend to get entangled when randomly placed in a bin. This…