7 accepted papers
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit robot model or proprioceptive sensing. At the core of our appro…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit robot model or proprioceptive sensing. At the core of our appro
In this paper, we propose an adaptive eye-to-hand vision-based control methodology, which enables a closed-loop grow-to-shape capability for variable length continuum manipulators in 2D. Our method utilizes shape features of the continuum robot, i.e. module curvature and length, which are obtained f…
This paper presents a visual servoing method for controlling a robot in the configuration space by purely using its natural features. We first created a data collection pipeline that uses camera intrinsics, extrinsics, and forward kinematics to generate 2D projections of a robot's joint locations (k…
In this paper, we present a novel clothoid-based visual servoing method for controlling the shape of a variable length continuum manipulator. Clothoids are curves with linearly changing curvature. They allow us to obtain a smooth representation of a continuum manipulator's shape in a compact form wi…
This paper presents a novel visual servoing method that controls a robotic manipulator in the configuration space as opposed to the classical vision-based control methods solely focusing on the end effector pose. We first extract the robot's shape from depth images using a skeletonization algorithm…
In this work, we propose a pick-and-place benchmark to assess the manipulation capabilities of a robotic system. The benchmark is based on the Box and Blocks Test (BBT), a task utilized for decades by the rehabilitation community to assess unilateral gross manual dexterity in humans. We propose thre