相关论文: RGBD-based Parameter Extraction for Door Opening T…

During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…

Robots should learn new tasks from humans. But how do humans convey what they want the robot to do? Existing methods largely rely on humans physically guiding the robot arm throughout their intended task. Unfortunately -- as we scale up the…

Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…

We introduce OPEND, a benchmark for learning how to use a hand to open cabinet doors or drawers in a photo-realistic and physics-reliable simulation environment driven by language instruction. To solve the task, we propose a multi-step…

The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification techniques are applied only a subset of…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…

This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such…

The automatic extraction of animal \reb{3D} pose from images without markers is of interest in a range of scientific fields. Most work to date predicts animal pose from RGB images, based on 2D labelling of joint positions. However, due to…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Geometry processing of 3D objects is of primary interest in many areas of computer vision and graphics, including robot navigation, 3D object recognition, classification, feature extraction, etc. The recent introduction of cheap range…