Related papers: Image-Based Visual Servoing for Enhanced Cooperati…
Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
To reduce the contour error of the end-effector of a robotic manipulator during trajectory tracking, a dual-mode synchronization predictive control is proposed. Firstly, the dynamic model of n-DoF robotic manipulator is discretized by using…
In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
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…
Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…