Related papers: 3D Hand-Eye Calibration for Collaborative Robot Ar…
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
The control of a robot for manipulation tasks generally relies on object detection and pose estimation. An attractive alternative is to learn control policies directly from raw input data. However, this approach is time-consuming and…
We introduce One-Shot Dual-Arm Imitation Learning (ODIL), which enables dual-arm robots to learn precise and coordinated everyday tasks from just a single demonstration of the task. ODIL uses a new three-stage visual servoing (3-VS) method…
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better…
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…
Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…
Industrial arms need to evolve beyond their standard shape to embrace new and emerging technologies. In this paper, we shall first perform an analysis of four popular but different modern industrial robot arms. By seeing the common trends…
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…