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In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Robot-assisted minimally invasive surgeries offer many advantages but require complex motor tasks that take surgeons years to master. There is currently a lack of knowledge on how surgeons acquire these robotic surgical skills. Toward…
Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated depth to build collision maps, we found that depth estimates…
Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Accurate full-body motion prediction is essential for the safe, autonomous navigation of legged robots, enabling critical capabilities like limb-level collision checking in cluttered environments. Simplified kinematic models often fail to…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…
This study presents an innovative computer vision framework designed to analyze human movements in industrial settings, aiming to enhance biomechanical analysis by integrating seamlessly with existing software. Through a combination of…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
The purpose of this study is to find ideal forces for reducing cell stress in wound healing process by micro robots. Because of this aim, we made two simulations on COMSOL Multiphysics with micro robot to find correct force. As a result of…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…