14 accepted papers
Robots have surpassed humans in terms of strength and precision, yet humans retain an unparalleled ability for decision-making in the face of unpredictable disturbances. This article aims to combine the strengths of both entities within a singular task: human motion guidance under strict geometric c
Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks, typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about the scene or physically interacting and changing the scene
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual ellipsoid using the system’s configuration and model. Yet, this…
This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves exploratory action selection to maximize learning about objects…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed using an implicit surface deep neural network. The location with…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors (like cameras, RGB-D cameras, LIDARs), proximity sensors, or ded…
Recent advancements in object shape completion have enabled impressive object reconstructions using only visual input. However, due to self-occlusion, the reconstructions have high uncertainty in the occluded object parts, which negatively impacts the performance of downstream robotic tasks such as
We investigated the use of impact sounds generated during exploratory behaviors in a robotic manipulation setup as cues for predicting object surface material and for recognizing individual objects. We collected and make available the YCB-impact sounds dataset which includes over 3,000 impact sounds…
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds that a moving robot is allowed to exert on human body parts du…
In this paper, we present an integrated system that includes reasoning from visual and natural language inputs, action and motion planning, executing tasks by a robotic arm, manipulating objects, and discovering their properties. A vision to action module recognises the scene with objects and their…
Mechanism calibration is an important and nontrivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated self-contained calibration relying on redundant information in
So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i) speed and separation monitoring and (ii) power and force lim…
With robots leaving factory environments and entering less controlled domains, possibly sharing living space with humans, safety needs to be guaranteed. To this end, some form of awareness of their body surface and the space surrounding it is desirable. In this work, we present a unique method that…