相关论文: Embed System for Robotic Arm with 3 Degree of Free…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
We outline the design and construction of novel robotic arms using machine perception, convolutional neural networks, and symbolic AI for logical control and affordance indexing. We describe our robotic arms built with a humanlike…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the…
We present a volumetric communication system that is designed for remote assistance of procedural tasks. The system allows a remote expert to visually guide a local operator. The two parties share a view that is spatially identical, but for…
In this study, we develop a simple daily assistive robot that controls its own vision according to linguistic instructions. The robot performs several daily tasks such as recording a user's face, hands, or screen, and remotely capturing…
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
Background: People with severe speech and motor impairment (SSMI) often uses a technique called eye pointing to communicate with outside world. One of their parents, caretakers or teachers hold a printed board in front of them and by…
Robotic grasping refers to making a robotic system pick an object by applying forces and torques on its surface. Many recent studies use data-driven approaches to address grasping, but the sparse reward nature of this task made the learning…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…