8 accepted papers
We present an approach for safe, and object-independent human-to-robot handovers using real time robotic vision, and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm, and by using a single gripper-mounted RGB-D camera, hence not relying
This paper presents a path planner, which enables a nonholonomic mobile manipulator to move its end-effector on an observed surface with a constrained orientation, given start and destination points. A partial point cloud of the environment is captured using a vision-based sensor, but no prior knowl…
This letter presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape, but observes it from a noisy point cloud. We consider the mul
This paper presents an assisted telemanipulation approach with integrated grasp planning. It also studies how the human teleoperation performance benefits from the incorporated visual and haptic cues while manipulating objects in cluttered environments. The developed system combines the widely used…
This paper addresses the problem of grasping arbitrarily shaped objects, observed as partial point-clouds, without requiring: models of the objects, physics parameters, training data, or other a-priori knowledge. A grasp metric is proposed based on Local Contact Moment (LoCoMo). LoCoMo combines zero…
This paper represents a step towards vision-based manipulation of plastic materials. Manipulating deformable objects is made challenging by: 1) the absence of a model for the object deformation, 2) the inherent difficulty of visual tracking of deformable objects, 3) the difficulty in defining a visu…
This paper presents a vision-based approach for estimating the configuration of, and providing control signals for, an under-sensored robot manipulator using a single monocular camera. Some remote manipulators, used for decommissioning tasks in the nuclear industry, lack proprioceptive sensors becau…
This paper addresses the problem of constrained motion for a manipulator performing a task while in contact with the environment, and investigates two force control frameworks, one based on projected inverse dynamics, and one based on optimal control. Firstly, we propose a control method based on pr…