Related papers: Vision-Guided Targeted Grasping and Vibration for …
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigating confined, sinuous paths such as in pipes, but are…
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,…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…
Vision-based navigation systems in arable fields are an underexplored area in agricultural robot navigation. Vision systems deployed in arable fields face challenges such as fluctuating weed density, varying illumination levels, growth…
In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…
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…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
Vision based robot manipulation uses cameras to capture one or more images of a scene containing the objects to be manipulated. Taking multiple images can help if any object is occluded from one viewpoint but more visible from another…
The agriculture sector requires a lot of labor and resources. Hence, farmers are constantly being pressed for technology and automation to be cost-effective. In this context, autonomous robots can play a very important role in carrying out…
Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…
Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems associated with unstructured environments make the development…
We explore multi-log grasping using reinforcement learning and virtual visual servoing for automated forwarding in a simulated environment. Automation of forest processes is a major challenge, and many techniques regarding robot control…
Vision algorithm-based robotic arm grasping system is one of the robotic arm systems that can be applied to a wide range of scenarios. It uses algorithms to automatically identify the location of the target and guide the robotic arm to…
Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously…
T-Rex (The Robot for Extracting Leaf Samples) is a gantry-based robotic system developed for autonomous leaf localization, selection, and grasping in greenhouse environments. The system integrates a 6-degree-of-freedom manipulator with a…
Organic weed control is a vital to improve crop yield with a sustainable approach. In this work, a directed energy weed control robot prototype specifically designed for organic farms is proposed. The robot uses a novel distributed array…