相关论文: Fast Object Learning and Dual-arm Coordination for…

We present a modular framework designed to enable a robot hand-arm system to learn how to catch flying objects, a task that requires fast, reactive, and accurately-timed robot motions. Our framework consists of five core modules: (i) an…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement.…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…

We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…

This paper introduces a modified self-organized task allocation algorithm, where robots are assigned to pick up one of the two types of object. This paper also demonstrates both algorithms by showing the simulation results of the…

This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited…

For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a path on challenging terrain, such as a cluttered staircase,…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

In a robotic mobile fulfillment system, robots bring shelves, called pods, with storage items from the storage area to pick stations. At every pick station there is a person -- the picker -- who takes parts from the pod and packs them into…

To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…

Object picking in cluttered scenes is a widely investigated field of robot manipulation, however, ambidextrous robot picking is still an important and challenging issue. We found the fusion of different prehensile actions (grasp and…

We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics…