相关论文: Hybrid Visual Servoing of Tendon-driven Continuum …

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…

This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

Event cameras offer microsecond latency, high dynamic range, and low power consumption, making them ideal for real-time robotic perception under challenging conditions such as motion blur, occlusion, and illumination changes. However,…

This work presents the dual benefit of integrating imitation learning techniques, based on the dynamical systems formalism, with the visual servoing paradigm. On the one hand, dynamical systems allow to program additional skills without…

In this paper, we propose a Distributed Intelligent Video Surveillance (DIVS) system using Deep Learning (DL) algorithms and deploy it in an edge computing environment. We establish a multi-layer edge computing architecture and a…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…

Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the…

Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…

Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…

As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…

Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…

Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motivated by recent…