Related papers: Form-Fitting, Large-Area Sensor Mounting for Obsta…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Flexible manufacturing systems in Industry 4.0 require robots capable of handling objects in unstructured environments without rigid positioning constraints. This paper presents a computer vision system that enables industrial robots to…

Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…

We present a novel method for generating 3D garment deformations from given body poses, which is key to a wide range of applications, including virtual try-on and extended reality. To simplify the cloth dynamics, existing methods mostly…

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore…

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…

3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in cost, simplicity, and ease of deployment. However, existing…

Robot-assisted 3D printing has drawn a lot of attention by its capability to fabricate curved layers that are optimized according to different objectives. However, the support generation algorithm based on a fixed printing direction for…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

Robots can better interact with humans and unstructured environments through touch sensing. However, most commercial robots are not equipped with tactile skins, making it challenging to achieve even basic touch-sensing functions, such as…

Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…

Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…

Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…

Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…

In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…