10 accepted papers
This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aeria…
This paper presents a manipulator-equipped unmanned aerial vehicle (UAV) performing contact-based surface inspection. Using stereo camera information, a contact point is determined and an approach path is generated to ensure an autonomous workflow. The proposed inspection method uses an impedance co…
This letter presents a compliant exploration framework based on a collaborative robot Franka Panda that builds a 3D plant stem model. The model is built for agricultural plant treatment procedures without external sensors, as contact forces are estimated from joint torques and robot's dynamic and ki
This letter presents a collaborative human-robot framework for delicate sanding of complex shape surfaces. Delicate sanding is performed using a standard industrial manipulator, equipped with the force/torque sensor and specially designed compliant control algorithm. Together with the compliant cont
A common approach in the field of tactile robotics is the development of a new perception algorithm for each new application of existing hardware solutions. In this letter, we present a method of dimensionality reduction of an optical-based tactile sensor image output using a convolutional neural ne
This paper demonstrates the experimental validation of canonical peg-in-hole manipulation task using an aerial robot. The robot consists of a multirotor platform equipped with a dual arm multi degree of freedom manipulator. The paper discusses the introduced kinematic constraints which make sure the…
In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placi