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The synchrotron light source, a cutting-edge large-scale user facility, requires autonomous synchrotron beamline operations, a crucial technique that should enable experiments to be conducted automatically, reliably, and safely with minimum…
[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
Optics is foundational to research in many areas of science and engineering, including nanophotonics, quantum information, materials science, biomedical imaging, and metrology. However, the design, assembly, and alignment of optical…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…
The discovery of ice deposits in the permanently shadowed craters of the lunar North and South Pole Moon presents an important opportunity for In-Situ Resource Utilization. These ice deposits maybe the source for sustaining a lunar base or…
With the acceleration of urbanization, the number of high-rise buildings and large public facilities is increasing, making curtain walls an essential component of modern architecture with widespread applications. Traditional curtain wall…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
A large number of robotic and human-assisted missions to the Moon and Mars are forecast. NASA's efforts to learn about the geology and makeup of these celestial bodies rely heavily on the use of robotic arms. The safety and redundancy…
Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
To ensure energy efficiency and reliable operations, it is essential to monitor solar panels in generation plants to detect defects. It is quite labor-intensive, time consuming and costly to manually monitor large-scale solar plants and…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly…