11 accepted papers
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the time-consuming nature of physical contact and the need to strate…
Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system that leverages imitation learning for autonomous pepper harvesting designed to operate in these complex s
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult challenge due to complexities involved in modeling their deformable…
In this paper, we present a method for creating high-quality 3D models of sorghum panicles for phenotyping in breeding experiments. This is achieved with a novel reconstruction approach that uses seeds as semantic landmarks in both 2D and 3D. To evaluate the performance, we develop a new metric for…
In this work, we present a method to extract the skeleton of a self-occluded tree canopy by estimating the unobserved structures of the tree. A tree skeleton compactly describes the topological structure and contains useful information such as branch geometry, positions and hierarchy. This can be cr…
This letter presents a robotic manipulation technique for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dexterous ungrasping</i> . It refers to the capability of securely transferring a grasped object from the gripper to the robot’s environment, i.
In this work, we address robotic <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dexterous ungrasping</i> , the capability of securely transferring a grasped object from the gripper to the robot’s environment, i.e. the inverse of grasping or picking,
Presents corrections to author information in the above named paper.
This letter introduces a new method for simultaneously singulating and picking objects from clutter. The method can lead to effective robotic bin picking, which still remains elusive despite its importance in many industrial and domestic applications, especially for objects with a thin profile. We l
This paper introduces the technique of tilt-and-pivot manipulation, a new method for picking thin, rigid objects lying on a flat surface through robotic dexterous in-hand manipulation. During the manipulation process, the gripper is controlled to reorient about the contact with the object such that…
This letter presents a novel robotic manipulation technique suitable for shallow-depth insertion, which refers to the assembly of a relatively thin peg-like object into a hole with a shallow depth, as can be seen in a cell phone battery insertion for example. Our technique features dexterous manipul