相关论文: Image-Processing Based Methods to Improve the Robu…

Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

The quality and safety of food is an important issue to the whole society, since it is at the basis of human health, social development and stability. Ensuring food quality and safety is a complex process, and all stages of food processing…

Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…

Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…

We present a generalized grasping algorithm that uses point clouds (i.e. a group of points and their respective surface normals) to discover grasp pose solutions for multiple grasp types, executed by a mechanical gripper, in near real-time.…

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…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Current NLP techniques have been greatly applied in different domains. In this paper, we propose a human-in-the-loop framework for robotic grasping in cluttered scenes, investigating a language interface to the grasping process, which…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…

Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…

Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

Optical microscopy is an indispensable tool in life sciences research, but conventional techniques require compromises between imaging parameters like speed, resolution, field-of-view, and phototoxicity. To overcome these limitations,…

Optical flow estimation is one of the fundamental tasks in low-level computer vision, which describes the pixel-wise displacement and can be used in many other tasks. From the apparent aspect, the optical flow can be viewed as the…