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Pick-and-place regrasp is an important manipulation skill for a robot. It helps a robot accomplish tasks that cannot be achieved within a single grasp, due to constraints such as kinematics or collisions between the robot and the…
Agriculture is currently undergoing a robotics revolution, but robots using wheeled or treads suffer from known disadvantages: they are unable to move over rubble and steep or loose ground, and they trample continuous strips of land thereby…
Field robotic harvesting is a promising technique in recent development of agricultural industry. It is vital for robots to recognise and localise fruits before the harvesting in natural orchards. However, the workspace of harvesting robots…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
Rehabilitation robots are often used in game-like interactions for rehabilitation to increase a person's motivation to complete rehabilitation exercises. By adjusting exercise difficulty for a specific user throughout the exercise…
Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limitations within shipping containers make the automation of…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…
Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been recently proposed to synthesize controllers for…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Most plants and benthic organisms have evolved efficient reconfiguration mechanisms to resist flow-induced loads. These mechanisms can be divided into bending, in which plants reduce their sail area through elastic deformation, and pruning,…
Farms produce hundreds of thousands of data points on the ground daily. Farming technique which combines farming practices with the insights uncovered in these data points using AI technology is called precision farming. Precision farming…
Fruit tree image segmentation is an essential problem in automating a variety of agricultural tasks such as phenotyping, harvesting, spraying, and pruning. Many research papers have proposed a diverse spectrum of solutions suitable to…
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
Plants need regular and the appropriate amount of watering to thrive and survive. While agricultural robots exist that can spray water on plants and crops such as the , they are expensive and have limited mobility and/or functionality. We…