相关论文: Robotic surface exploration with vision and tactil…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
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…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
We examine how the saccade mechanism from biological vision can be used to make deep neural networks more efficient for classification and object detection problems. Our proposed approach is based on the ideas of attention-driven visual…
Consider the following "local" cut-detection problem in a directed graph: We are given a starting vertex $s$ and need to detect whether there is a cut with at most $k$ edges crossing the cut such that the side of the cut containing $s$ has…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…
Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in…
Surface cracks on buildings, natural walls and underground mine tunnels can indicate serious structural integrity issues that threaten the safety of the structure and people in the environment. Timely detection and monitoring of cracks are…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Vision-based segmentation of the robotic tool during robot-assisted surgery enables downstream applications, such as augmented reality feedback, while allowing for inaccuracies in robot kinematics. With the introduction of deep learning,…
This paper presents an algorithm for the efficient simulation of ductile crack propagation through heterogeneous structures, as e.g. metallic microstructures, which are given as voxel data. These kinds of simulations are required for e.g.,…
This paper addresses the problem of mobile robot manipulation using object detection. Our approach uses detection and control as complimentary functions that learn from real-world interactions. We develop an end-to-end manipulation method…
This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…
Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…
In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this…