相关论文: b-it-bots RoboCup@Work Team Description Paper 2023
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
Robots are often so complex that one person may not know all the ins and outs of the system. Inheriting software and hardware infrastructure with limited documentation and/or practical robot experience presents a costly challenge for an…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Physical feasibility in 3D bin packing is a key requirement in modern industrial logistics and robotic automation. With the growing adoption of industrial automation, online bin packing has gained increasing attention. However,…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…
In order to ease the process of library management many technologies have been adopted but most of them focus on inventory management. There has hardly been any progress of automation in the field of issuing and returning books to the…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
The ability to visually recognize objects is a fundamental skill for robotics systems. Indeed, a large variety of tasks involving manipulation, navigation or interaction with other agents, deeply depends on the accurate understanding of the…
This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-body humanoid form, which poses unique challenges in control,…
We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing iCub simulators (iCub SIM, iCub Gazebo), which require C++…
Remarkable progress has been made in recent years in the fields of vision, language, and robotics. We now have vision models capable of recognizing objects based on language queries, navigation systems that can effectively control mobile…
In the dynamic construction industry, traditional robotic integration has primarily focused on automating specific tasks, often overlooking the complexity and variability of human aspects in construction workflows. This paper introduces a…
Effective task management is essential to successful team collaboration. While the past decade has seen considerable innovation in systems that track and manage group tasks, these innovations have typically been outside of the principal…
Robot learning is at an inflection point, driven by rapid advancements in machine learning and the growing availability of large-scale robotics data. This shift from classical, model-based methods to data-driven, learning-based paradigms is…