Related papers: Vision-Guided Targeted Grasping and Vibration for …
Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…
Robotic harvesting has the potential to positively impact agricultural productivity, reduce costs, improve food quality, enhance sustainability, and to address labor shortage. In the rapidly advancing field of agricultural robotics, the…
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…
Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a…
The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
Accurate crop row detection is often challenged by the varying field conditions present in real-world arable fields. Traditional colour based segmentation is unable to cater for all such variations. The lack of comprehensive datasets in…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…
Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…
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,…