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Autonomous vision-guided bi-manual grasping and manipulation

Alireza Rastegarpanah, Naresh Marturi, Rustam Stolkin
2017 2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)  
The presented approach has been validated by performing numerous symmetric and asymmetric bi-manual manipulations at different conditions.  ...  Initially, symmetric coordinated bi-manual manipulation based on kinematic tracking algorithm was implemented on the robot to enable a master-slave manipulation system.  ...  EPSRC Feasibility Study project "Machine-learning of vision-guided bi-manual grasps, for adaptable autonomous manipulation in manufacturing environments". 1 Extreme Robotics Lab, University of Birmingham  ... 
doi:10.1109/arso.2017.8025192 dblp:conf/arso/RastegarpanahMS17 fatcat:5lpqv24hpzd4dmbbygdgbh2xai

Autonomous manipulation of deformable objects based on teleoperated demonstrations

Matthias Rambow, Thomas Schauss, Martin Buss, Sandra Hirche
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The recorded trajectories are automatically segmented into a sequence of haptic control primitives involving contact with the rigid environment and vision-guided grasp primitives.  ...  While humans can manipulate deformable objects smoothly and naturally, this is still a challenge for autonomous robots due to the complex object dynamics.  ...  AUTONOMOUS DLO-MANIPULATION FRAMEWORK For bi-manual DLO manipulation tasks we identify four control primitives for each of the two robot manipulators: the grasp primitive, the support primitive for re-grasping  ... 
doi:10.1109/iros.2012.6386002 dblp:conf/iros/RambowSBH12 fatcat:mc7azvelyjaznpcx62gsz6gy5y

Flexible Disaster Response of Tomorrow – Final Presentation and Evaluation of the CENTAURO System [article]

Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz (+16 others)
2019 arXiv   pre-print
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions.  ...  We focus on components which were recently integrated and report about a systematic evaluation which demonstrated system capabilities and revealed valuable insights.  ...  Bi-manual manipulation can be controlled through the 6D mouse interface, through the keyframe editor, or by defining targets for autonomous grasping (Sec. IV-B). C.  ... 
arXiv:1909.08812v1 fatcat:5o6de2gofbftnonuwlgjnw3n64

Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator

Jile Jiao, Shuguang Ye, Zhiqiang Cao, Nong Gu, Xilong Liu, Min Tan
2012 International Journal of Advanced Robotic Systems  
This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments.  ...  Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision-based control, which drives the mobile manipulator approaching the object.  ...  In this paper, autonomous move-to-grasp based on embedded vision is considered for driving a mobile manipulator approaching a specified object, which will be grasped by the manipulator.  ... 
doi:10.5772/53276 fatcat:qll4ueue6bc7zg7isodgl627tu

Autonomous Clothes Manipulation Using a Hierarchical Vision Architecture

Li Sun, Gerardo Aragon-Camarasa, Simon Rogers, Jan Paul Siebert
2018 IEEE Access  
We demonstrate our robot vision architecture in a customised dual-arm industrial robot with our inhouse developed stereo vision system, carrying out autonomous grasping and dual-arm flattening.  ...  In this paper, we propose a vision architecture with hierarchical 3D features for more than one manipulation tasks (i.e. clothes grasping and dual-arm flattening. • The widely-used Kinect-like cameras  ...  This project has received funding from the European Union's PF7 Specific targeted research projects (STREP) under grant agreement No 288553 (CloPeMa: Clothes Perception and Manipulation, http://www.clopema.eu  ... 
doi:10.1109/access.2018.2883072 fatcat:beda365lgrcgfasvibuagehpau

Folding paper with anthropomorphic robot hands using real-time physics-based modeling

Christof Elbrechter, Robert Haschke, Helge Ritter
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
The second contribution concerns enabling an anthropomorphic robot to fold paper, and is accomplished by introducing a set of tactile-and vision-based closed loop controllers.  ...  The ability to manipulate deformable objects, such as textiles or paper, is a major prerequisite to bringing the capabilities of articulated robot hands closer to the level of manual intelligence exhibited  ...  While we have already dealt with visually guided manipulation to enable the grasping of a flat-lying sheet of paper as a first step towards richer manipulation [2] , we now wish to demonstrate a next  ... 
doi:10.1109/humanoids.2012.6651522 dblp:conf/humanoids/ElbrechterHR12 fatcat:vtfyeqpfmraq7lxravhx444hge

Human-in-the-loop optimisation: mixed initiative grasping for optimally facilitating post-grasp manipulative actions [article]

Amir M. Ghalamzan Esfahani, Firas Abi-Farraj, Paolo Robuffo Giordano,, Rustam Stolkin
2017 arXiv   pre-print
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation.  ...  Meanwhile, a-priori knowledge of: i) the slave robot kinematics, and ii) the desired post-grasp manipulative trajectory, are fed to an autonomous agent which transmits force cues to the human, to encourage  ...  Lee et. al [13] introduced a definition of the manipulability ellipsoid for a closed kinematic chain, comprising two arms holding an object in a bi-manual grasp.  ... 
arXiv:1707.08147v1 fatcat:zfoajiaemjbgdprpkhhbrqdma4

Dual arm manipulation—A survey

Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Dimarogonas, Danica Kragic
2012 Robotics and Autonomous Systems  
Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation.  ...  It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control.  ...  Acknowledgments This work has been supported by the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF), and the European Union FP7 project RoboHow.Cog (FP7-ICT-288533).  ... 
doi:10.1016/j.robot.2012.07.005 fatcat:kjuryszyhvd3fexpwunckwkh5a

Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions

E. Amir M. Ghalamzan, Firas Abi-Farraj, Paolo Robuffo Giordano, Rustam Stolkin
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
in-the-loop optimisation: mixed initiative grasping for optimally facilitating post-grasp manipulative actions.  ...  Lee et. al [11] introduced a definition of the manipulability ellipsoid for a closed kinematic chain, comprising two arms holding an object in a bi-manual grasp.  ...  For example, in the pick-and-place task shown in Fig. 1 , a computer vision algorithm can be used to detect the initial and goal poses of the manipulated object, and a motion planner [7] can autonomously  ... 
doi:10.1109/iros.2017.8206178 dblp:conf/iros/EAGS17 fatcat:ckrikztnvzaebb4iugocg47euu

IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks [article]

Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Alex Yin, Joseph J. Lim
2019 arXiv   pre-print
The IKEA Furniture Assembly Environment is one of the first benchmarks for testing and accelerating the automation of complex manipulation tasks.  ...  Our environment supports over 80 different furniture models, Sawyer and Baxter robot simulation, and domain randomization.  ...  Acknowledgments The authors would like to thank Taehoon Kim and many members of the USC CLVR lab for helpful feedback and testing our environment. This project was partially funded by SKT.  ... 
arXiv:1911.07246v1 fatcat:no2etocu25azpg2ejkmpq4trde

A Modular Software Framework for Eye–Hand Coordination in Humanoid Robots

Jürgen Leitner, Simon Harding, Alexander Förster, Peter Corke
2016 Frontiers in Robotics and AI  
This is demonstrated with the iCub humanoid robot performing visual object detection and reaching and grasping actions.  ...  We describe our software system enabling a tight integration between vision and control modules on complex, high-DOF humanoid robots.  ...  The authors would like to thank Mikhail Frank, Marijn Stollenga, Leo Pape, Adam Tow, and William Chamberlain for their discussions and valued inputs to this paper and the underlying software frameworks  ... 
doi:10.3389/frobt.2016.00026 fatcat:ufmfl7hdfnfj3ks7zjhrjil46q

Visionary: Vision architecture discovery for robot learning [article]

Iretiayo Akinola, Anelia Angelova, Yao Lu, Yevgen Chebotar, Dmitry Kalashnikov, Jacob Varley, Julian Ibarz, Michael S. Ryoo
2021 arXiv   pre-print
We propose a vision-based architecture search algorithm for robot manipulation learning, which discovers interactions between low dimension action inputs and high dimensional visual inputs.  ...  Our real robot experiments also confirm that it improves grasping performance by 6%.  ...  ., households, offices and warehouses, remains challenging and is one of the main goals for autonomous robotics.  ... 
arXiv:2103.14633v1 fatcat:7j5656qfojfrphdhleqwt5gvea

An Overview of Cooperative Robotics in Agriculture

Chris Lytridis, Vassilis G. Kaburlasos, Theodore Pachidis, Michalis Manios, Eleni Vrochidou, Theofanis Kalampokas, Stamatis Chatzistamatis
2021 Agronomy  
This paper presents a comprehensive overview of the work carried out so far in the area of cooperative agricultural robotics and identifies the state-of-the-art.  ...  This is because agricultural robotics addresses critical issues such as seasonal shortages in manual labor, e.g., during harvest, as well as the increasing concern regarding environmentally friendly practices  ...  For instance, in [16] , a semi-autonomous system was presented. The system used a three-layer architecture that includes a servo control, autonomous control, and manual operation.  ... 
doi:10.3390/agronomy11091818 fatcat:uyv3nraeofe6tk57ko4xzfgjei

The Grasp Strategy of a Robot Passer Influences Performance and Quality of the Robot-Human Object Handover

Valerio Ortenzi, Francesca Cini, Tommaso Pardi, Naresh Marturi, Rustam Stolkin, Peter Corke, Marco Controzzi
2020 Frontiers in Robotics and AI  
The results of this work can benefit the wider robotics community, with application ranging from industrial to household human-robot interaction for cooperative and collaborative object manipulation.  ...  The choice of a grasp is multi-faceted; however, the task to perform primes this choice in terms of hand shaping and placement on the object.  ...  A big thank-you goes to Anita, Chris, Maxime, and Peter for their support during the setting up of the experiment.  ... 
doi:10.3389/frobt.2020.542406 pmid:33501313 pmcid:PMC7806048 fatcat:jcnknirw7faavddbbtovz3ouiy

Generality and legibility in mobile manipulation

Michael Beetz, Freek Stulp, Piotr Esden-Tempski, Andreas Fedrizzi, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Federico Ruiz
2009 Autonomous Robots  
We demonstrate the integration of these mechanisms into a single low-level control system for autonomous manipulation platforms. task [44] .  ...  This article investigates methods for achieving more general manipulation capabilities for mobile manipulation platforms, which produce legible behavior in human living environments.  ...  Perception for vision-guided reaching and grasping To enable vision-guided reaching and grasping, knowledge about the location of the target object and relevant obstacles is required.  ... 
doi:10.1007/s10514-009-9152-9 fatcat:k7f6bs2r7vftbbhlep72av4kzy
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