Related papers: Vision-Based Hand Shadowing for Robotic Manipulati…
Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required they could make a difference. One such application is robot-assisted retinal microsurgery.…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…
The traditional mode of recording faults in heavy factory equipment has been via hand marked inspection sheets, wherein a machine engineer manually marks the faulty machine regions on a paper outline of the machine. Over the years, millions…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
We present a self-trainable method, Mask2Hand, which learns to solve the challenging task of predicting 3D hand pose and shape from a 2D binary mask of hand silhouette/shadow without additional manually-annotated data. Given the intrinsic…
Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…
We present a new multi-stream 3D mesh reconstruction network (MSMR-Net) for hand pose estimation from a single RGB image. Our model consists of an image encoder followed by a mesh-convolution decoder composed of connected graph convolution…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Estimating the 3D hand articulation from a single color image is an important problem with applications in Augmented Reality (AR), Virtual Reality (VR), Human-Computer Interaction (HCI), and robotics. Apart from the absence of depth…
3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…
Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however this does not translate well to space-limited clinical…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…
Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
We hand the community HAND, a simple and time-efficient method for teaching robots new manipulation tasks through human hand demonstrations. Instead of relying on task-specific robot demonstrations collected via teleoperation, HAND uses…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…