相关论文: Motion Comparator: Visual Comparison of Robot Moti…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…
Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior…
Motion estimation is a key component of any modern video codec. Our understanding of motion and the estimation of motion from video has come a very long way since 2000. More than 135 different algorithms have been recently reviewed by…
In most computer vision and image analysis problems, it is necessary to define a similarity measure between two or more different objects or images. Template matching is a classic and fundamental method used to score similarities between…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
When facing a new motion-planning problem, most motion planners solve it from scratch, e.g., via sampling and exploration or starting optimization from a straight-line path. However, most motion planners have to experience a variety of…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
Robots are ubiquitous in small-to-large-scale manufacturers. While collaborative robots (cobots) have significant potential in these settings due to their flexibility and ease of use, proper integration is critical to realize their full…
The motion-and-time analysis has been a popular research topic in operations research, especially for analyzing work performances in manufacturing and service operations. It is regaining attention as continuous improvement tools for lean…
Humans use collaborative robots as tools for accomplishing various tasks. The interaction between humans and robots happens in tight shared workspaces. However, these machines must be safe to operate alongside humans to minimize the risk of…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Feature matching is one of the most fundamental and active research areas in computer vision. A comprehensive evaluation of feature matchers is necessary, since it would advance both the development of this field and also high-level…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…