Related papers: Precise Well-plate Placing Utilizing Contact Durin…
Accurate 3D hand pose estimation plays an important role in Human Machine Interaction (HMI). In the reality of HMI, joints in fingers stretching out, especially corresponding fingertips, are much more important than other joints. We propose…
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…
Industrial insertion tasks are often performed repetitively with parts that are subject to tight tolerances and prone to breakage. Learning an industrial insertion policy in real is challenging as the collision between the parts and the…
Plane arrangements are a useful tool for surface and volume modelling. However, their main drawback is poor scalability. We introduce two key novelties that enable the construction of plane arrangements for complex objects and entire…
This study developed a simple method to measure liquid surface tension based on curve fitting technique. In this study, the explicit lying droplet profile function in terms of surface tension was derived by solving 2-D Young-Laplace…
This paper presents a controlling and positioning approach for an optical filter disk. In the known applications where Hall-effect sensors and magnets (radially positioned) are applied, the purpose of the latter is to help developing a…
This paper uses robots to assemble pegs into holes on surfaces with different colors and textures. It especially targets at the problem of peg-in-hole assembly with initial position uncertainty. Two in-hand cameras and a force-torque sensor…
A study of the localization properties of a single-element Resistive Plate WELL (RPWELL) detector is presented. The detector comprises of a single-sided THick Gaseous Electron Multiplier (THGEM) coupled to a segmented readout anode through…
Contact angle is an important parameter in characterizing the wetting properties of fluids. The most common methods for measuring the contact angle is to measure it directly from the profile curve of a sessile drop, a method with certain…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
Microtechnology becomes a versatile tool for biological and biomedical applications. Microwells have been established long but remained non-intelligent up to now. Merging new fabrication techniques and handling concepts with…
Nowadays, the need for large amounts of carefully and complexly annotated data for the training of computer vision modules continues to grow. Furthermore, although the research community presents state of the art solutions to many problems,…
Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of…
In order to fully function in human environments, robot perception will need to account for the uncertainty caused by translucent materials. Translucency poses several open challenges in the form of transparent objects (e.g., drinking…
Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…
Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for…
Pixelated silicon detectors are state-of-the-art technology to achieve precise tracking and vertexing at collider experiments, designed to accurately measure the hit position of incoming particles in high rate and radiation environments.…
Human pose estimation (HPE) is one of the most challenging tasks in computer vision as humans are deformable by nature and thus their pose has so much variance. HPE aims to correctly identify the main joint locations of a single person or…