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Agriculture is vital for human survival and remains a major driver of several economies around the world; more so in underdeveloped and developing economies. With increasing demand for food and cash crops, due to a growing global population…
Colombia has a privileged geographical location which makes it a cornerstone and equidistant point to all regional markets. The country has a great ecological diversity and it is one of the largest suppliers of flowers for US. Colombian…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
Due to high-mix-low-volume production, sheet-metal workshops today are challenged by small series and varying orders. As standard automation solutions tend to fall short, SMEs resort to repetitive manual labour impacting production costs…
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by…
This paper presents multi-vision-based localisation strategies for harvesting robots. Identifying picking points accurately is essential for robotic harvesting because insecure grasping can lead to economic loss through fruit damage and…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular,…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Plants display physical displacements during their growth due to photosynthesis, which converts light into chemical energy. This can be interpreted as plants acting as actuators with a built-in power source. This paper presents a method to…
Agricultural datasets for crop row detection are often bound by their limited number of images. This restricts the researchers from developing deep learning based models for precision agricultural tasks involving crop row detection. We…
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature…
The global agricultural sector is undergoing a transformative shift, driven by increasing food demands, climate variability and the need for sustainable practices. SUSTAINABLE is a smart farming platform designed to integrate IoT, AI,…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
Artificial Water Bodies (AWBs) are human-made systems that require continuous monitoring due to their artificial biological processes. These systems demand regular maintenance to manage their ecosystems effectively. As a result of these…
Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems perform well in harvesting in uncluttered and structured…