相关论文: Optimal Multi-Manipulator Arm Placement for Maxima…
This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a grasp trajectory optimization (GTO) for grasp imagination. The…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…
This paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for Underwater Vehicles Manipulator Systems (UVMS). The wrench maximisation problem is formulated…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
Automation technique has been widely used in manufacturing industry, but there are still manual handling operations required in assembly and maintenance work in industry. Inappropriate posture and physical fatigue might result in…