相关论文: High-Precision Transformer-Based Visual Servoing f…
In this paper, we present a new approach to visual servoing for robotics, referred to as 3D Move to See (3DMTS), based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
For a humanoid robot to make eye contact and initiate communication with a person, it is necessary to estimate the person's head position. However, eye contact becomes difficult due to the mechanical delay of the robot when the person is…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups. Deformable foods necessitate different skewering…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
The manufacturing industry is currently witnessing a paradigm shift with the unprecedented adoption of industrial robots, and machine vision is a key perception technology that enables these robots to perform precise operations in…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
Vision Transformers (ViTs) have achieved remarkable success in computer vision tasks. However, their potential in rotation-sensitive scenarios has not been fully explored, and this limitation may be inherently attributed to the lack of…
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…