相关论文: Stable Object Placing using Curl and Diff Features…

Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…

Flexible pick-and-place is a fundamental yet challenging task within robotics, in particular due to the need of an object model for a simple target pose definition. In this work, the robot instead learns to pick-and-place objects using…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

As robots perform manipulation tasks and interact with objects, it is probable that they accidentally drop objects (e.g., due to an inadequate grasp of an unfamiliar object) that subsequently bounce out of their visual fields. To enable…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…

Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…

We propose a novel method utilizing an objectness score for maintaining the locations and classes of objects detected from Mask R-CNN during mobile robot navigation. The objectness score is defined to measure how well the detector…

Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…

In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…

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…

Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…

General-purpose object placement is a fundamental capability of an intelligent generalist robot: being capable of rearranging objects following precise human instructions even in novel environments. This work is dedicated to achieving…