Related papers: AssistDLO: Assistive Teleoperation for Deformable …
Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, and electromechanical industries. Therefore, modeling of DLOs as well as a computationally…
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…
Combining gradient-based trajectory optimization with differentiable physics simulation is an efficient technique for solving soft-body manipulation problems. Using a well-crafted optimization objective, the solver can quickly converge onto…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
While Vision-Language-Action (VLA) models have achieved remarkable success in ground-based embodied intelligence, their application to Aerial Manipulation Systems (AMS) remains a largely unexplored frontier. The inherent characteristics of…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
Active visual tracking of space non-cooperative object is significant for future intelligent spacecraft to realise space debris removal, asteroid exploration, autonomous rendezvous and docking. However, existing works often consider this…
In this paper, we consider a Micro Aerial Vehicle (MAV) system teleoperated by a non-expert and introduce a perceptive safety filter that leverages Control Barrier Functions (CBFs) in conjunction with Visual-Inertial Simultaneous…
Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approaches encode safety indirectly through reward shaping, which…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…
As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in…
The superior performance of Deformable Convolutional Networks arises from its ability to adapt to the geometric variations of objects. Through an examination of its adaptive behavior, we observe that while the spatial support for its neural…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Manipulating deformable and fragile objects remains a fundamental challenge in robotics due to complex contact dynamics and strict requirements on object integrity. Existing approaches typically optimize either end-effector design or…