8 accepted papers
Robotic manipulation in cluttered environments presents significant challenges, particularly when the clutter includes thin, deformable objects like cables, which complicate perception and decision-making processes. In the context of datacenters, the automation of networking tasks often involves the
Robotic grasping of a target object in cluttered environments poses considerable challenges, often due to limited collision-free grasp affordances caused by the close proximity of other objects. To overcome this limitation, non-prehensile actions like pushing can be strategically employed to manipul…
Robotic grasping in highly cluttered environments remains a challenging task due to the lack of collision free grasp affordances. In such conditions, non-prehensile actions could help to increase such affordances. We propose a multi-fingered push-grasping policy that creates enough space for the fin
Prehensile robotic grasping of a target object in clutter is challenging because, in such conditions, the target touches other objects, resulting to the lack of collision free grasp affordances. To address this problem, we propose a modular reinforcement learning method which uses continuous actions
Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In such conditions, the target object touches or is covered by adjacent obstacle objects, thus rendering traditional grasping…
In this work, a passive physical human-robot interaction (pHRI) controller is proposed to intraoperatively ensure that sensitive tissues will not be damaged by the robot's tool. The proposed scheme uses the point cloud of the restricted region's surface as constraint definition and Artificial Potent…
In this paper we propose a grasp strategy which exploits environmental contact for grasping domestic flat objects placed or hinged on support surfaces. The proposed grasp strategy considers the non-convex geometry of the object-surface combination, as this appears in objects like plates on tables or…
This video features RAMCIP, a new service robot developed to provide proactive and discreet assistance to elderly with Mild Cognitive Impairments (MCI), supporting their daily activities at home. Starting with a thorough analysis of needs and requirements of the target population, the RAMCIP robot w…