10 accepted papers
Quadruped robots equipped with sensorless feet can only provide limited information regarding the foot interaction with the surroundings, limiting their off-road exploration capability in unstructured environments. To tackle this problem, we present Foot Vision, an innovative vision-based sensorized
Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various motion patterns hinders the solutions of Simultaneous Locali
The off-road locomotion of wheeled mobile robots (WMRs) over soft terrains can be quite challenging due to the complicated wheel-terrain interaction (WTI). To avoid unforeseen non-geometric hazards such as excessive sinkage or slippage, it is crucial to oversee these terrain-related uncertainties. H
Wheeled mobile robots (WMRs) have been proven to be quite competitive and useful in outdoor missions. However, they may face serious sinkage or slippage on deformable terrains, and even get stuck or damaged, thereby causing mission failure. To mitigate these risks, it is essential to closely monitor
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve the rover performance, online mobility prediction using visi
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and enables manipulation even when a full grasp is not possible. Pre…
This paper describes a new robotic tabletop rearrangement system, and presents experimental results. The tasks involve rearranging as many as 30 to 100 blocks, sometimes packed with a density of up to 40%. The high packing factor forces the system to push several objects at a time, making accurate s…
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieve long-term localization under varying environmental conditions and changing viewpoints. SeqSLAM uses a brute-force sequentia…
In this paper, we consider reorienting 3D objects on a table using a two-finger pinch gripper. Given the 3D mesh model of the object, our algorithm solves for the gripper motions that are required to transit between arbitrary object poses, grasping positions and gripper poses. The two motion primiti…
Hundreds of billions of small screws are assembled in consumer electronics industry every year, yet reliably automating the screwdriving process remains one of the most challenging tasks. Two barriers to further adoption of robotic threaded fastening systems are system cost and technical challenges,…