相关论文: Multi-robot Aerial Soft Manipulator For Floating L…

The robot's objective is to rehabilitate the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the…

Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…

Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…

Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although…

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…

Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…

Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human teleoperation. In this paper, we introduce AquaBot, a fully…

Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…

This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…

This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…

Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However,…

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…

Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Rapid urbanization and continuous population growth have made municipal solid waste management increasingly challenging. These challenges highlight the need for smarter and automated waste management solutions. This paper presents the…

Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…

The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…

Regular inspections are crucial to maintaining waste-water pipelines in good condition. The challenge is that inside a pipeline the space is narrow and may have a complex structure. The conventional methods that use pipe robots with heavy…