相关论文: Precision fruit tree pruning using a learned hybri…

This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot…

Automatic classification of trees using remotely sensed data has been a dream of many scientists and land use managers. Recently, Unmanned aerial vehicles (UAV) has been expected to be an easy-to-use, cost-effective tool for remote sensing…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity makes it time consuming. It is an operation that requires about 80-120 hours per hectare annually, making an automated robotic…

This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…

This paper introduces a novel approach to address the problem of Physical Robot Interaction (PRI) during robot pushing tasks. The approach uses a data-driven forward model based on tactile predictions to inform the controller about…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

Image-based machine learning models can be used to make the sorting and grading of agricultural products more efficient. In many regions, implementing such systems can be difficult due to the lack of centralization and automation of…

Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…

Manual pruning of radiata pine trees presents significant safety risks due to their substantial height and the challenging terrains in which they thrive. To address these risks, this research proposes the development of a drone-based…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to…

Citrus segmentation is a key step of automatic citrus picking. While most current image segmentation approaches achieve good segmentation results by pixel-wise segmentation, these supervised learning-based methods require a large amount of…

This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks effectively, but current agricultural…

We demonstrate that adaptively controlling the size of individual regression trees in a random forest can improve predictive performance, contrary to the conventional wisdom that trees should be fully grown. A fast pruning algorithm,…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…

Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…

This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…