相关论文: A multi-modal table tennis robot system
This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…
Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
To enable a natural and fluent human robot collaboration flow, it is critical for a robot to comprehend their human peers' on-going actions, predict their behaviors in the near future, and plan its actions correspondingly. Specifically, the…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
Interactive autonomous applications require robustness of the perception engine to artifacts in unconstrained videos. In this paper, we examine the effect of camera motion on the task of action detection. We develop a novel ranking method…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
Olympic Taekwondo has faced challenges in spectator engagement due to static, defensive gameplay and contentious scoring. Current Protector and Scoring Systems (PSS) rely on impact sensors and simplistic logic, encouraging safe strategies…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness. Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…
In racket sports, such as tennis, locating the ball's position at impact is important in clarifying player and equipment characteristics, thereby aiding in personalized equipment design. High-speed cameras are used to measure the impact…
This paper proposes a fusion method of modalities extracted from video through a three-stream network with spatio-temporal and temporal convolutions for fine-grained action classification in sport. It is applied to TTStroke-21 dataset which…
Robotic technology has been widely used in nowadays society, which has made great progress in various fields such as agriculture, manufacturing and entertainment. In this paper, we focus on the topic of drumming robots in entertainment. To…
In this paper, we present a method for table tennis ball trajectory filtering and prediction. Our gray-box approach builds on a physical model. At the same time, we use data to learn parameters of the dynamics model, of an extended Kalman…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…