相关论文: Hybrid Continuum-Eversion Robot: Precise Navigatio…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…
Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…
Zero-shot object navigation (ZSON) in large-scale outdoor environments faces many challenges; we specifically address a coupled one: long-range targets that reduce to tiny projections and intermittent visibility due to partial or complete…
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
Mobile robots will play a crucial role in the transition towards sustainable agriculture. To autonomously and effectively monitor the state of plants, robots ought to be equipped with visual perception capabilities that are robust to the…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…
Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast,…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…