相关论文: SPIBOT: A Drone-Tethered Mobile Gripper for Robust…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…
We propose SlingDrone, a novel Mixed Reality interaction paradigm that utilizes a micro-quadrotor as both pointing controller and interactive robot with a slingshot motion type. The drone attempts to hover at a given position while the…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a…
Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly…
Learning to control high-speed objects in dynamic environments represents a fundamental challenge in robotics. Table tennis serves as an ideal testbed for advancing robotic capabilities in dynamic environments. This task presents two…
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired…
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…
Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely…