Related papers: Vision-Guided Targeted Grasping and Vibration for …
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
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…
Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
Robotic pruning of dormant grapevines is an area of active research in order to promote vine balance and grape quality, but so far robotic efforts have largely focused on planar, simplified vines not representative of commercial vineyards.…
In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…
Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…
In this article, we focus on the critical tasks of plant protection in arable farms, addressing a modern challenge in agriculture: integrating ecological considerations into the operational strategy of precision weeding robots like \bbot.…
We present a benchmarking study of vision-based robotic grasping algorithms and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing benchmarking protocol from…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…
The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera…
This work presents the design of Stickbug, a six-armed, multi-agent, precision pollination robot that combines the accuracy of single-agent systems with swarm parallelization in greenhouses. Precision pollination robots have often been…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term seasonal hiring culture and low wages,…
In this paper we propose a robotic system for Irrigation Water Management (IWM) in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped with an RGB-D camera and a soil moisture sensor. The…
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…
Autonomous navigation is a pre-requisite for field robots to carry out precision agriculture tasks. Typically, a robot has to navigate through a whole crop field several times during a season for monitoring the plants, for applying…