Related papers: Aggressive Aerial Grasping using a Soft Drone with…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
As aerial platforms evolve from passive observers to active manipulators, the challenge shifts toward designing intuitive interfaces that allow non-expert users to command these systems naturally. This work introduces a novel concept of…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such trajectories are unsuitable for delicate grasping, which require…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…
In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…
This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…