相关论文: Learning to Detect Collisions for Continuum Manipu…

Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands…

We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…

This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…

Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure and non-linear curvature pose significant challenges for…

Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation makes force sensing,…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…

We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…

Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of…

This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…

Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly…

Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the continuum dexterous manipulator (CDM) for tip position…

Contactless and non-invasive estimation of mechanical properties of physical media from optical observations is of interest for manifold engineering and biomedical applications, where direct physical measurements are not possible.…

This article presents an easy distance field-based collision detection scheme to detect collisions of an object with its environment. Through the clever use of back-face culling and z-buffering, the solution is precise and very easy to…

Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks treat contact as unsafe, restricting…

Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…