相关论文: Robotic Ironing with 3D Perception and Force/Torqu…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…
Artificial skin with the sense of touch can support robots to interact with the surrounding environment efficiently and accomplish complex tasks. Traditional multi-layered artificial skins require complex manufacturing processes which can…
Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…
Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…
Recent studies on visual reinforcement learning (visual RL) have explored the use of 3D visual representations. However, none of these work has systematically compared the efficacy of 3D representations with 2D representations across…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…
In this paper, we propose a novel edge and corner detection algorithm for an unorganized point cloud. Our edge detection method classifies a query point as an edge point by evaluating the distribution of local neighboring points around the…
Robot perception under low light or high dynamic range is usually improved downstream - via more robust feature extraction, image enhancement, or closed-loop exposure control. However, all of these approaches are limited by the image…
Garment manipulation using robotic systems is a challenging task due to the diverse shapes and deformable nature of fabric. In this paper, we propose a novel method for robotic garment smoothing and alignment that significantly improves the…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…