相关论文: Dynamic Active Constraints for Surgical Robots usi…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors are considered. To address this issue, we introduce a new…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
This article introduces a framework for complex human-robot collaboration tasks, such as the co-manufacturing of furniture. For these tasks, it is essential to encode tasks from human demonstration and reproduce these skills in a compliant…
Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…
While deep reinforcement learning techniques have recently produced considerable achievements on many decision-making problems, their use in robotics has largely been limited to simulated worlds or restricted motions, since unconstrained…
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…