相关论文: Automatic Contact-Based 3D Scanning Using Articula…

In this study, a novel control algorithm for a P-300 based brain-computer interface is fully developed to control a 2-DoF robotic arm. Eight subjects including 5 men and 3 women, perform a 2-dimensional target tracking task in a simulated…

A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…

Articulated 3D objects are central to many applications in robotics, AR/VR, and animation. Recent approaches to modeling such objects either rely on optimization-based reconstruction pipelines that require dense-view supervision or on…

We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a…

This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…

This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…

Image-guided robotic interventions represent a transformative frontier in surgery, blending advanced imaging and robotics for improved precision and outcomes. This paper addresses the critical need for integrating open-source platforms to…

Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…

Robot grasping with deformable gripper jaws results in nonplanar surface contacts if the jaws deform to the nonplanar local geometry of an object. The frictional force and torque that can be transmitted through a nonplanar surface contact…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

We present an open-source robotic framework that integrates computer vision and machine learning based inverse kinematics to enable low-cost laboratory automation tasks such as colony picking and liquid handling. The system uses a custom…

The creation of whole 3D objects in one shot is an ultimate goal for rapid prototyping, most notably biofabrication, where conventional methods are typically slow and apply mechanical or chemical stress on biological cells. Here, we…

Three-dimensional (3D) reconstruction of head Computed Tomography (CT) images elucidates the intricate spatial relationships of tissue structures, thereby assisting in accurate diagnosis. Nonetheless, securing an optimal head CT scan…

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

In this paper, we propose an anchor-free single-stage LiDAR-based 3D object detector -- RangeDet. The most notable difference with previous works is that our method is purely based on the range view representation. Compared with the…

Automatic parsing of human anatomies at the instance-level from 3D computed tomography (CT) is a prerequisite step for many clinical applications. The presence of pathologies, broken structures or limited field-of-view (FOV) can all make…