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This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
The sewer inspection robot MAKRO is an autonomous multi-segment robot with worm-like shape driven by wheels. It is currently under development in the project MAKRO-PLUS. The robot has to navigate autonomously within sewer systems. Its first…
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Removing skull artifacts from functional magnetic images (fMRI) is a well understood and frequently encountered problem. Because the fMRI field has grown mostly due to human studies, many new tools were developed to handle human data.…
A large number of robotic and human-assisted missions to the Moon and Mars are forecast. NASA's efforts to learn about the geology and makeup of these celestial bodies rely heavily on the use of robotic arms. The safety and redundancy…
State-of-the-art brain tumor segmentation is based on deep learning models applied to multi-modal MRIs. Currently, these models are trained on images after a preprocessing stage that involves registration, interpolation, brain extraction…
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…
Cranial implant design is a challenging task, whose accuracy is crucial in the context of cranioplasty procedures. This task is usually performed manually by experts using computer-assisted design software. In this work, we propose and…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
Automating the assembly of wire harnesses is challenging in automotive, electrical cabinet, and aircraft production, particularly due to deformable cables and a high variance in connector geometries. In addition, connectors must be inserted…
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic…
Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…
Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…
Three-dimensional models of craniofacial variation over the general population are useful for assessing pre- and post-operative head shape when treating various craniofacial conditions, such as craniosynostosis. We present a new method of…
The process of fish cage inspections, which is a necessary maintenance task at any fish farm, be it small scale or industrial, is a task that has the potential to be fully automated. Replacing trained divers who perform regular inspections…
Advances in optical neuroimaging techniques now allow neural activity to be recorded with cellular resolution in awake and behaving animals. Brain motion in these recordings pose a unique challenge. The location of individual neurons must…
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom…
Robotic surgery promises enhanced precision and adaptability over traditional surgical methods. It also offers the possibility of automating surgical interventions, resulting in reduced stress on the surgeon, better surgical outcomes, and…
The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…