相关论文: Redundancy Parameterization of the ABB YuMi Robot …
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a…
This paper presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by leveraging the redundancy of both arms, specifically in tasks…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…
We demonstrate that models trained only in simulation can be used to solve a manipulation problem of unprecedented complexity on a real robot. This is made possible by two key components: a novel algorithm, which we call automatic domain…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies the desired characteristics by modifying the wire…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with…
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freedom tendon-driven wrist. These four…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
Pose estimation of a robot arm from visual inputs is a challenging task. However, with the increasing adoption of robot arms for both industrial and residential use cases, reliable joint angle estimation can offer improved safety and…
Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…
Segment Anything Model (SAM) is a foundation model for semantic segmentation and shows excellent generalization capability with the prompts. In this empirical study, we investigate the robustness and zero-shot generalizability of the SAM in…
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between…