Related papers: A Shared-Autonomy Construction Robotic System for …
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Drilling, grinding, and setting anchors on vertical walls are fundamental processes in everyday construction work. Manually doing these works is error-prone, potentially dangerous, and elaborate at height. Today, heavy mobile ground robots…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
Effective progress monitoring is crucial for the successful delivery of the construction project within the stipulated time and budget. Construction projects are often monitored irregularly through time-consuming physical site visits by…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
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…
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control…