Related papers: Autonomous Robotic Assembly: From Part Singulation…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes…
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…
We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community…
The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
Bagging is an essential skill that humans perform in their daily activities. However, deformable objects, such as bags, are complex for robots to manipulate. This paper presents an efficient learning-based framework that enables robots to…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…
Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
We present an AI-assisted Augmented Reality assembly workflow that uses deep learning-based object recognition to identify different assembly components and display step-by-step instructions. For each assembly step, the system displays a…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…