相关论文: Robust Body Exposure (RoBE): A Graph-based Dynamic…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target object from clutters is an essential while challenging skill for…

The design of functional seating furniture is a complicated process which often requires extensive manual design effort and empirical evaluation. We propose a computational design framework for pose-driven automated generation of…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

We consider the problem of open-goal planning for robotic cloth manipulation. Core of our system is a neural network trained as a forward model of cloth behaviour under manipulation, with planning performed through backpropagation. We…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic…

Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…

Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…

This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…

Virtual try-on, i.e making people virtually try new garments, is an active research area in computer vision with great commercial applications. Current virtual try-on methods usually work in a two-stage pipeline. First, the garment image is…

A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…

This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…

When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…

Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…

Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…

Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…