相关论文: Accurate Pouring with an Autonomous Robot Using an…

With the growing emphasis on the development and integration of service robots within household environments, we will need to endow robots with the ability to reliably pour a variety of liquids. However, liquid handling and pouring is a…

Pouring a specific amount of liquid is a challenging task. In this paper we develop methods for robots to use visual feedback to perform closed-loop control for pouring liquids. We propose both a model-based and a model-free method…

Pouring is the second most frequently executed motion in cooking scenarios. In this work, we present our system of accurate pouring that generates the angular velocities of the source container using recurrent neural networks. We collected…

As service robots begin to be deployed to assist humans, it is important for them to be able to perform a skill as ubiquitous as pouring. Specifically, we focus on the task of pouring an exact amount of water without any environmental…

Pouring is one of the most commonly executed tasks in humans' daily lives, whose accuracy is affected by multiple factors, including the type of material to be poured and the geometry of the source and receiving containers. In this work, we…

Liquid state estimation is important for robotics tasks such as pouring; however, estimating the state of transparent liquids is a challenging problem. We propose a novel segmentation pipeline that can segment transparent liquids such as…

Liquid perception is critical for robotic pouring tasks. It usually requires the robust visual detection of flowing liquid. However, while recent works have shown promising results in liquid perception, they typically require labeled data…

In this paper, we focus on the challenging perception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic information. However, these techniques may suffer from poor generalization performances on…

Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal is to create a sauce plating robot, which requires precise…

Transparent liquid manipulation in robotic pouring remains challenging for perception systems: specular/refraction effects and lighting variability degrade visual cues, undermining reliable level estimation. To address this challenge, we…

Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…

Robust and accurate estimation of liquid height lies as an essential part of pouring tasks for service robots. However, vision-based methods often fail in occluded conditions while audio-based methods cannot work well in a noisy…

The agriculture sector requires a lot of labor and resources. Hence, farmers are constantly being pressed for technology and automation to be cost-effective. In this context, autonomous robots can play a very important role in carrying out…

We present initial results in the development of a novel robot using RGBD cameras, image segmentation, and a simple teat pose estimation algorithm for automated milking. We relate on the analysis of the accuracy of different commercial RGBD…

Human does their daily activity and cooking by teaching and imitating with the help of their vision and understanding of the difference between materials. Teaching a robot to do coking and daily work is difficult because of variation in…

Plants need regular and the appropriate amount of watering to thrive and survive. While agricultural robots exist that can spray water on plants and crops such as the , they are expensive and have limited mobility and/or functionality. We…

Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handling liquid with different properties. This paper presents a…

This paper presents the design and implementation of an automated water irrigation system aimed at optimizing plant care through precision moisture monitoring and controlled water delivery. The system uses a capacitive soil moisture sensor,…

Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…