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Autonomous vision-guided bi-manual grasping and manipulation
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
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]
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
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
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
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]
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
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
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]
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
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]
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
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
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
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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