相关论文: Information Requirements of Collision-Based Microm…

We consider the problem of a robot learning the mechanical properties of objects through physical interaction with the object, and introduce a practical, data-efficient approach for identifying the motion models of these objects. The…

Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…

The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…

Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…

Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…

As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…

A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…

As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of…

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…

This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…

Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…

To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…