Related papers: Quantitative Hardness Assessment with Vision-based…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Accurate recognition of food items along with quality assessment is of paramount importance in the agricultural industry. Such automated systems can speed up the wheel of the food processing sector and save tons of manual labor. In this…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
The global agri-food sector faces increasing challenges from labour shortages, high consumer demand, and supply-chain disruptions, resulting in substantial losses of unharvested produce. Robotic harvesting has emerged as a promising…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…
Post-harvest fruit quality assessment is essential for reducing food waste, yet reliable non-destructive methods typically depend on expensive hyperspectral cameras and computationally intensive deep learning models. These systems typically…
Detection, segmentation and tracking of fruits and vegetables are three fundamental tasks for precision agriculture, enabling robotic harvesting and yield estimation applications. However, modern algorithms are data hungry and it is not…
While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
Strawberry harvesting robots faced persistent challenges such as low integration of visual perception, fruit-gripper misalignment, empty grasping/misgrasp, and strawberry slippage from the gripper due to insufficient gripping force, all of…