相关论文: High-Precision Transformer-Based Visual Servoing f…
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…
In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in…