Related papers: GBEC: Geometry-Based Hand-Eye Calibration
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
Traditional approaches to extrinsic calibration use fiducial markers and learning-based approaches rely heavily on simulation data. In this work, we present a learning-based markerless extrinsic calibration system that uses a depth camera…
When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…
In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating…
Cross-embodiment dexterous grasp synthesis refers to adaptively generating and optimizing grasps for various robotic hands with different morphologies. This capability is crucial for achieving versatile robotic manipulation in diverse…
Hands are the primary means through which humans interact with the world. Reliable and always-available hand pose inference could yield new and intuitive control schemes for human-computer interactions, particularly in virtual and augmented…
In view of the classical visual servoing trajectory planning method which only considers the camera trajectory, this paper proposes one homography matrix based trajectory planning method for robot uncalibrated visual servoing. Taking the…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
This paper presents a Geometric-Photometric Joint Alignment~(GPJA) method, which aligns discrete human expressions at pixel-level accuracy by combining geometric and photometric information. Common practices for registering human heads…
Hand gesture classification using high-quality structured data such as videos, images, and hand skeletons is a well-explored problem in computer vision. Leveraging low-power, cost-effective biosignals, e.g. surface electromyography (sEMG),…
Parameter calibration is essential for reducing uncertainty and improving predictive fidelity in physics-based models, yet it is often limited by the high computational cost of model evaluations. Bayesian calibration methods provide a…
Regressively-based surface electromyography (sEMG) prosthetics are widely used for their ability to continuously convert muscle activity into finger force and motion. However, they typically require additional kinematic or dynamic sensors,…
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
Combining manipulation with the mobility of legged robots is essential for a wide range of robotic applications. However, integrating an arm with a mobile base significantly increases the system's complexity, making precise end-effector…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…