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Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
In Computer Vision, edge detection is one of the favored approaches for feature and object detection in images since it provides information about their objects boundaries. Other region-based approaches use probabilistic analysis such as…
Generating 3D shapes from single RGB images is essential in various applications such as robotics. Current approaches typically target images containing clear and complete visual descriptions of the object, without considering common…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based…
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…
Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification…