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Hybrid fluidic actuation for a foam-based soft actuator | https://ieeexplore.ieee.org/document/9340731/ | [
"Jan Peters",
"Bani Anvari",
"Cheng Chen",
"Zara Lim",
"Helge A Wurdemann",
"Jan Peters",
"Bani Anvari",
"Cheng Chen",
"Zara Lim",
"Helge A Wurdemann"
] | Actuation means for soft robotic structures are manifold: despite actuation mechanisms such as tendon-driven manipulators or shape memory alloys, the majority of soft robotic actuators are fluidically actuated - either purely by positive or negative air pressure or by hydraulic actuation only. This paper presents the novel idea of employing hybrid fluidic - hydraulic and pneumatic - actuation for ... |
Laminar Jamming Flexure Joints for the Development of Variable Stiffness Robot Grippers and Hands | https://ieeexplore.ieee.org/document/9340752/ | [
"Lucas Gerez",
"Geng Gao",
"Minas Liarokapis",
"Lucas Gerez",
"Geng Gao",
"Minas Liarokapis"
] | Although soft robots are a good alternative to rigid, traditional robots due to their intrinsic compliance and environmental adaptability, there are several drawbacks that limit their impact, such as low force exertion capability and low resistance to deformation. For this reason, soft structures of variable stiffness have become a popular solution in the field to combine the benefits of both soft... |
A Two-Fingered Robot Gripper with Variable Stiffness Flexure Hinges Based on Shape Morphing | https://ieeexplore.ieee.org/document/9341554/ | [
"Hareesh Godaba",
"Aqeel Sajad",
"Navin Patel",
"Kaspar Althoefer",
"Ketao Zhang",
"Hareesh Godaba",
"Aqeel Sajad",
"Navin Patel",
"Kaspar Althoefer",
"Ketao Zhang"
] | This paper presents a novel approach for developing robotic grippers with variable stiffness hinges for dexterous grasps. This approach for the first time uses pneumatically actuated pouch actuators to fold and unfold morphable flaps of flexure hinges thus change stiffness of the hinge. By varying the air pressure in pouch actuators, the flexure hinge morphs into a beam with various open sections ... |
A Soft Humanoid Hand with In-Finger Visual Perception | https://ieeexplore.ieee.org/document/9341080/ | [
"Felix Hundhausen",
"Julia Starke",
"Tamim Asfour",
"Felix Hundhausen",
"Julia Starke",
"Tamim Asfour"
] | We present a novel underactued humanoid five finger soft hand, the KIT Finger-Vision Soft Hand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the actuation mechanism of the hand and the tendon-driven soft finger design with internally routed high-bandwidth flat-flex cables. For efficient on-board pa... |
A Compact, Cable-driven, Activatable Soft Wrist with Six Degrees of Freedom for Assembly Tasks | https://ieeexplore.ieee.org/document/9341487/ | [
"Felix von Drigalski",
"Kazutoshi Tanaka",
"Masashi Hamaya",
"Robert Lee",
"Chisato Nakashima",
"Yoshiya Shibata",
"Yoshihisa Ijiri",
"Felix von Drigalski",
"Kazutoshi Tanaka",
"Masashi Hamaya",
"Robert Lee",
"Chisato Nakashima",
"Yoshiya Shibata",
"Yoshihisa Ijiri"
] | Physical softness has been proposed to absorb impacts when establishing contact with a robot or its workpiece, to relax control requirements and improve performance in assembly and insertion tasks. Previous work has focused on special end effector solutions for isolated tasks, such as the peg-in-hole task. However, as many robot tasks require the precision of rigid robots, and their performance wo... |
An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion | https://ieeexplore.ieee.org/document/9341008/ | [
"Zach J. Patterson",
"Andrew P. Sabelhaus",
"Keene Chin",
"Tess Hellebrekers",
"Carmel Majidi",
"Zach J. Patterson",
"Andrew P. Sabelhaus",
"Keene Chin",
"Tess Hellebrekers",
"Carmel Majidi"
] | Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control difficult, particularly with tasks such as locomotion. In this work, we present a mobile and untethered underwater crawling soft robot, PATRICK, paired with a testbed... |
A Multigait Stringy Robot with Bi-stable Soft-bodied Structures in Multiple Viscous Environments | https://ieeexplore.ieee.org/document/9341059/ | [
"Tung D. Ta",
"Takuya Umedachi",
"Yoshihiro Kawahara",
"Tung D. Ta",
"Takuya Umedachi",
"Yoshihiro Kawahara"
] | The exploration of spatially limited terrestrial or aquatic environments requires miniature and lightweight robots. Soft-bodied robot research is paving ways for a new class of small-scale robots that can navigate a variety of environments with minimum influence on the environment itself. However, it is generally challenging to design miniature soft-bodied robots that efficiently adapt to the chan... |
Development of a pneumatically-driven Growing Sling to assist patient transfer | https://ieeexplore.ieee.org/document/9341706/ | [
"Jonggyu Choi",
"Seungjun Lee",
"Jeongryul Kim",
"MyungJoong Lee",
"Keri Kim",
"Hyunki In",
"Jonggyu Choi",
"Seungjun Lee",
"Jeongryul Kim",
"MyungJoong Lee",
"Keri Kim",
"Hyunki In"
] | In this study, a new type of sling for assisting bedridden patients is developed using a pneumatic growing mechanism. Growing Sling focuses on minimizing the labor input of the caregivers by automating the sling insertion and retraction process while maintaining safety and comfort. Improvements over the typical growing mechanism were made by reinforcing the sling with shafts and filament tape for ... |
A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots | https://ieeexplore.ieee.org/document/9340950/ | [
"Sang-Goo Jeong",
"Margaret M. Coad",
"Laura H. Blumenschein",
"Ming Luo",
"Usman Mehmood",
"Ji Hun Kim",
"Allison M. Okamura",
"Jee-Hwan Ryu",
"Sang-Goo Jeong",
"Margaret M. Coad",
"Laura H. Blumenschein",
"Ming Luo",
"Usman Mehmood",
"Ji Hun Kim",
"Allison M. Okamura",
"Jee-Hwan Ryu"
] | Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly enhance the usefulness of these robots for exploration in the field. However, because the material at the tip of the robot body continually changes as the robot ... |
Novel Design of a Soft Pump Driven by Super-Coiled Polymer Artificial Muscles | https://ieeexplore.ieee.org/document/9341366/ | [
"Yu Alexander Tse",
"Ki Wan Wong",
"Yang Yang",
"Michael Yu Wang",
"Yu Alexander Tse",
"Ki Wan Wong",
"Yang Yang",
"Michael Yu Wang"
] | The widespread use of fluidic actuation for soft robots creates a high demand for soft pumps and compressors. However, current off-the-shelf pumps are usually rigid, noisy, and cumbersome. As a result, it is hard to integrate most commercial pumps into soft robotic systems, which restricts the autonomy and portability of soft robots. This paper presents the novel design of a soft pump based on bel... |
Integrated Actuation and Self-Sensing for Twisted-and-Coiled Actuators with Applications to Innervated Soft Robots | https://ieeexplore.ieee.org/document/9340647/ | [
"Jiefeng Sun",
"Jianguo Zhao",
"Jiefeng Sun",
"Jianguo Zhao"
] | Traditional soft robots require separate sensors and actuators to precisely control their motion. A twisted-and-coiled actuator (TCA) is a new artificial muscle with both actuation and self-sensing capability that can simultaneously serve both as a sensor and an actuator allowing to control the motion of TCAs without external sensors. This paper investigates the integrated sensing and actuation fo... |
Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR) | https://ieeexplore.ieee.org/document/9341692/ | [
"Kayode Sonaike",
"S. M. Hadi Sadati",
"Christos Bergeles",
"Ian D. Walker",
"Kayode Sonaike",
"S. M. Hadi Sadati",
"Christos Bergeles",
"Ian D. Walker"
] | Tendrils are common stable structures in nature and are used for sensing, actuation, and geometrical stiffness modulation. In this paper, for the first time we exploit the helical geometry of a shape memory alloy (SMA) tendril as a simple to fabricate highly dexterous robotic continuum tentacle that we called Active Tendril-Backbone Robot (ATBR). This is achieved via partial (120 deg) activation o... |
SMA Actuated Low-Weight Bio-Inspired Claws for Grasping and Perching Using Flapping Wing Aerial Systems | https://ieeexplore.ieee.org/document/9341741/ | [
"A. E. Gomez-Tamm",
"V. Perez-Sanchez",
"B. C. Arrue",
"A. Ollero",
"A. E. Gomez-Tamm",
"V. Perez-Sanchez",
"B. C. Arrue",
"A. Ollero"
] | Taking inspiration from nature, the work presented in this paper aims to develop bio-inspired claws to be used for grasping and perching in flapping-wing aerial systems. These claws can be 3D printed out of two different materials and will be capable of adapt to any shape. Also, they will be soft for avoiding undesired damages on the objects when performing manipulation. These claws will be actuat... |
Simultaneous 3D Forming and Patterning Method of Realizing Soft IPMC Robots | https://ieeexplore.ieee.org/document/9341062/ | [
"Keita Kubo",
"Hiroyuki Nabae",
"Tetsuya Horiuchi",
"Kinji Asaka",
"Gen Endo",
"Koichi Suzumori",
"Keita Kubo",
"Hiroyuki Nabae",
"Tetsuya Horiuchi",
"Kinji Asaka",
"Gen Endo",
"Koichi Suzumori"
] | Ionic polymer-metal composites (IPMC) actuators are popular because they can be driven at a low voltage, possess excellent responsiveness, and can perform soft motions similar to that of living creatures. Conventional IPMC soft robots are manufactured by cutting and assembling IPMC sheets. However, using this conventional process to stably manufacture three-dimensional (3D)-shaped soft robots is d... |
Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators | https://ieeexplore.ieee.org/document/9341171/ | [
"Yang Liu",
"Seong Hyo Ahn",
"Uksang Yoo",
"Alexander R. Cohen",
"Farshid Alambeigi",
"Yang Liu",
"Seong Hyo Ahn",
"Uksang Yoo",
"Alexander R. Cohen",
"Farshid Alambeigi"
] | In this paper, we present an analytical modeling approach to address the problem of tension loss in a generic variable curvature tendon-driven continuum manipulators (TD-CM) occurring due to the tendon-sheath distributed friction force. Despite the previous approaches in the literature, our presented model and the iterative solution algorithm do not rely on a priori known curvature/shape of the TD... |
Vacuum Driven Auxetic Switching Structure and Its Application on a Gripper and Quadruped | https://ieeexplore.ieee.org/document/9341338/ | [
"Shuai Liu",
"Sheeraz Athar",
"Michael Yu Wang",
"Shuai Liu",
"Sheeraz Athar",
"Michael Yu Wang"
] | The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of this, we present the development of novel and low-cost 3D structures inspired by a simple auxetic unit. The core part, which we call the body in this paper, is a... |
Reconfigurable Soft Flexure Hinges via Pinched Tubes | https://ieeexplore.ieee.org/document/9341109/ | [
"Yuhao Jiang",
"Mohammad Sharifzadeh",
"Daniel M. Aukes",
"Yuhao Jiang",
"Mohammad Sharifzadeh",
"Daniel M. Aukes"
] | Tuning the stiffness of soft robots is essential in order to extend usability and control the maneuverability of soft robots. In this paper, we propose a novel mechanism that can reconfigure the stiffness of tubular structures, using pinching to induce highly directional changes in stiffness. When pinched, these tubes can be then utilized as flexure hinges to create virtual joints on demand; the o... |
Localization and Force-Feedback with Soft Magnetic Stickers for Precise Robot Manipulation | https://ieeexplore.ieee.org/document/9341281/ | [
"Tess Hellebrekers",
"Kevin Zhang",
"Manuela Veloso",
"Oliver Kroemer",
"Carmel Majidi",
"Tess Hellebrekers",
"Kevin Zhang",
"Manuela Veloso",
"Oliver Kroemer",
"Carmel Majidi"
] | Tactile sensors are used in robot manipulation to reduce uncertainty regarding hand-object pose estimation. However, existing sensor technologies tend to be bulky and provide signals that are difficult to interpret into actionable changes. Here, we achieve wireless tactile sensing with soft and conformable magnetic stickers that can be easily placed on objects within the robot's workspace. We embe... |
Fruit quality control by surface analysis using a bio-inspired soft tactile sensor | https://ieeexplore.ieee.org/document/9340955/ | [
"Pedro Ribeiro",
"Susana Cardoso",
"Alexandre Bernardino",
"Lorenzo Jamone",
"Pedro Ribeiro",
"Susana Cardoso",
"Alexandre Bernardino",
"Lorenzo Jamone"
] | The growing consumer demand for large volumes of high quality fruit has generated an increasing need for auto-mated fruit quality control during production. Optical methods have been proved successful in a few cases, but with limitations related to the variability of fruit colors and lighting conditions during tests. Tactile sensing provides a valuable alternative, although it comes with the need ... |
Wireless Electronic Skin with Integrated Pressure and Optical Proximity Sensing | https://ieeexplore.ieee.org/document/9340787/ | [
"Eric J. Markvicka",
"Jonathan M. Rogers",
"Carmel Majidi",
"Eric J. Markvicka",
"Jonathan M. Rogers",
"Carmel Majidi"
] | Electronic skins and tactile sensors can provide the sense of touch to robotic manipulators. These sensing modalities complement existing long range optical sensors and can provide detailed information before and after contact. However, integration with existing systems can be challenging due to size constraints, the interface geometry, and restrictions of external wiring used to interface with th... |
Vision-Based Proprioceptive Sensing: Tip Position Estimation for a Soft Inflatable Bellow Actuator | https://ieeexplore.ieee.org/document/9341271/ | [
"Peter Werner",
"Matthias Hofer",
"Carmelo Sferrazza",
"Raffaello D’Andrea",
"Peter Werner",
"Matthias Hofer",
"Carmelo Sferrazza",
"Raffaello D’Andrea"
] | This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an internal camera. The proposed vision-based sensing pipeline predicts the three-dimensional tip position of the actuator. To train and evaluate the algorithm, predictions are compared to ground truth data from an external motion capture system. An off-the-shelf distance sensor is integrated in ... |
A Minimalistic Hyper-Flexible Manipulator: Modeling and Control | https://ieeexplore.ieee.org/document/9341628/ | [
"Amit Prigozin",
"Amir Degani",
"Amit Prigozin",
"Amir Degani"
] | Robotic manipulators can be found today in most industries, from autonomous warehouses to advanced assembly lines in factories. Most of these industrial robots are characterized by having non-flexible and highly rigid links. In dense and complex environments these manipulators require many degrees of freedom (DOFs) which complicates the mechanical structure of the manipulator, as well as the contr... |
Joint-Level Control of the DLR Lightweight Robot SARA | https://ieeexplore.ieee.org/document/9340700/ | [
"Maged Iskandar",
"Christian Ott",
"Oliver Eiberger",
"Manuel Keppler",
"Alin Albu-Schäffer",
"Alexander Dietrich",
"Maged Iskandar",
"Christian Ott",
"Oliver Eiberger",
"Manuel Keppler",
"Alin Albu-Schäffer",
"Alexander Dietrich"
] | Lightweight robots are known to be intrinsically elastic in their joints. The established classical approaches to control such systems are mostly based on motor-side coordinates since the joints are comparatively stiff. However, that inevitably introduces errors in the coordinates that actually matter: the ones on the link side. Here we present a new joint-torque controller that uses feedback of t... |
Self-healing Cell Tactile Sensor Fabricated Using Ultraflexible Printed Electrodes | https://ieeexplore.ieee.org/document/9341005/ | [
"Masahiro Shimizu",
"Toshinori Fujie",
"Takuya Umedachi",
"Shunsuke Shigaki",
"Hiroki Kawashima",
"Masato Saito",
"Hirono Ohashi",
"Koh Hosoda",
"Masahiro Shimizu",
"Toshinori Fujie",
"Takuya Umedachi",
"Shunsuke Shigaki",
"Hiroki Kawashima",
"Masato Saito",
"Hirono Ohashi",
"Koh Hosoda"
] | We used cells, which are the units that make up a living body, as building blocks to design a biomachine hybrid system and develop a tactile sensor that uses living cells as sensor receptors. We fabricated a novel cell tactile sensor with the electrodes formed using printed electronics technology. This sensor comprises elastic electrodes mounted on a soft material to acquire tactile information; s... |
Self-sensing Soft Tactile Actuator for Fingertip Interface | https://ieeexplore.ieee.org/document/9341087/ | [
"Jung-Hwan Youn",
"Ibrahim Bin Yasir",
"Ki-Uk Kyung",
"Jung-Hwan Youn",
"Ibrahim Bin Yasir",
"Ki-Uk Kyung"
] | In this paper, we report a self-sensing soft tactile actuator based on Dielectric elastomer actuator (DEA) for wearable haptic interface. DEAs are one of electroactive polymer actuators, which are reported to have large area strain and fast response speed. A soft tactile actuator is constructed of a multi-layered DEA membrane layer, a passive membrane layer, and an inner circular pillar. The soft ... |
3D Printed Bio-Inspired Hair Sensor for Directional Airflow Sensing | https://ieeexplore.ieee.org/document/9340711/ | [
"Keshav Rajasekaran",
"Hyung Dae Bae",
"Sarah Bergbreiter",
"Miao Yu",
"Keshav Rajasekaran",
"Hyung Dae Bae",
"Sarah Bergbreiter",
"Miao Yu"
] | With reduction in the scale of unmanned air vehicles, there is an increasing need for lightweight, compact, low-power sensors and alternate sensing modalities to facilitate flight control and navigation. This paper presents a novel method to fabricate a micro-scale artificial hair sensor that is capable of directional airflow sensing. The sensor consists of a high-aspect ratio hair structure attac... |
Silicone-based Capacitive E-skin for Exteroception and Proprioception | https://ieeexplore.ieee.org/document/9340945/ | [
"Abu Bakar Dawood",
"Hareesh Godaba",
"Ahmad Ataka",
"Kaspar Althoefer",
"Abu Bakar Dawood",
"Hareesh Godaba",
"Ahmad Ataka",
"Kaspar Althoefer"
] | Thin and imperceptible soft skins that can detect internal deformations as well as external forces, can go a long way to address perception and control challenges in soft robots. However, decoupling proprioceptive and exteroceptive stimuli is a challenging task. In this paper, we present a silicone-based, capacitive E-skin for exteroception and proprioception (SCEEP). This soft and stretchable sen... |
Shape reconstruction of CCD camera-based soft tactile sensors | https://ieeexplore.ieee.org/document/9341698/ | [
"Gabor Soter",
"Helmut Hauser",
"Andrew Conn",
"Jonathan Rossiter",
"Kohei Nakajima",
"Gabor Soter",
"Helmut Hauser",
"Andrew Conn",
"Jonathan Rossiter",
"Kohei Nakajima"
] | CCD camera-based tactile sensors provide high-resolution information about the deformation of soft and elastic interfaces. However, they have poor scalibility as it is difficult to sense a large surface area without increasing the distance between the camera and the interface or using multiple processing chips. For example, using such tactile sensors for a whole robotic arm is not yet possible. In... |
Personalized Online Learning with Pseudo-Ground Truth | https://ieeexplore.ieee.org/document/9341632/ | [
"Viktor Losing",
"Martina Hasenjäger",
"Taizo Yoshikawa",
"Viktor Losing",
"Martina Hasenjäger",
"Taizo Yoshikawa"
] | Personalized online machine learning allows a very accurate modelling of individual behavior and demands. In particular, a system that dynamically adapts during runtime can initiate a continuous collaboration with its user where both alternately adjust to each other to maximize the system's utility. However, in application scenarios based on supervised learning it is often unclear how to obtain th... |
Explainable and Efficient Sequential Correlation Network for 3D Single Person Concurrent Activity Detection | https://ieeexplore.ieee.org/document/9340846/ | [
"Yi Wei",
"Wenbo Li",
"Ming-Ching Chang",
"Hongxia Jin",
"Siwei Lyu",
"Yi Wei",
"Wenbo Li",
"Ming-Ching Chang",
"Hongxia Jin",
"Siwei Lyu"
] | We present the sequential correlation network (SCN) to improve concurrent activity detection. SCN combines a recurrent neural network and a correlation model hierarchically to model the complex correlations and temporal dynamics of concurrent activities. SCN has several advantages that enable effective learning even from a small dataset for real-world deployment. Unlike the majority of approaches ... |
Faster Healthcare Time Series Classification for Boosting Mortality Early Warning System | https://ieeexplore.ieee.org/document/9341483/ | [
"Yanke Hu",
"Raj Subramanian",
"Wangpeng An",
"Na Zhao",
"Weili Wu",
"Yanke Hu",
"Raj Subramanian",
"Wangpeng An",
"Na Zhao",
"Weili Wu"
] | Electronic Health Record (EHR) and healthcare claim data provide rich clinical information for time series analysis. In this work, we provide a different angle of solving healthcare multivariate time series classification by turning it into a computer vision problem. We propose a Convolutional Feature Engineering (CFE) methodology, that can effectively extract long sequence dependency time series ... |
Action Sequence Predictions of Vehicles in Urban Environments using Map and Social Context | https://ieeexplore.ieee.org/document/9340643/ | [
"Jan-Nico Zaech",
"Dengxin Dai",
"Alexander Liniger",
"Luc Van Gool",
"Jan-Nico Zaech",
"Dengxin Dai",
"Alexander Liniger",
"Luc Van Gool"
] | This work studies the problem of predicting the sequence of future actions for surrounding vehicles in real-world driving scenarios. To this aim, we make three main contributions. The first contribution is an automatic method to convert the trajectories recorded in real-world driving scenarios to action sequences with the help of HD maps. The method enables automatic dataset creation for this task... |
Multi-label Long Short-Term Memory for construction vehicle activity recognition with imbalanced supervision | https://ieeexplore.ieee.org/document/9341500/ | [
"Haruka Abe",
"Takuya Hino",
"Motohide Sugihara",
"Hiroki Ikeya",
"Masamichi Shimosaka",
"Haruka Abe",
"Takuya Hino",
"Motohide Sugihara",
"Hiroki Ikeya",
"Masamichi Shimosaka"
] | Sensor-based activity recognition for construction vehicles is useful for evaluating the skills of the operator, measuring work efficiency, and many other use cases. Therefore, many researches have explored robust activity-recognition models. However, it remains a challenge to apply the model to many construction sites because of the imbalance of the dataset. While it is natural to employ multi-la... |
From Human to Robot Everyday Activity | https://ieeexplore.ieee.org/document/9340706/ | [
"Celeste Mason",
"Konrad Gadzicki",
"Moritz Meier",
"Florian Ahrens",
"Thorsten Kluss",
"Jaime Maldonado",
"Felix Putze",
"Thorsten Fehr",
"Christoph Zetzsche",
"Manfred Herrmann",
"Kerstin Schill",
"Tanja Schultz",
"Celeste Mason",
"Konrad Gadzicki",
"Moritz Meier",
"Florian Ahrens",
"Thorsten Kluss",
"Jaime Maldonado",
"Felix Putze",
"Thorsten Fehr",
"Christoph Zetzsche",
"Manfred Herrmann",
"Kerstin Schill",
"Tanja Schultz"
] | The Everyday Activities Science and Engineering (EASE) Collaborative Research Consortium’s mission to enhance the performance of cognition-enabled robots establishes its foundation in the EASE Human Activities Data Analysis Pipeline. Through collection of diverse human activity information resources, enrichment with contextually relevant annotations, and subsequent multimodal analysis of the combi... |
Non-overlapping RGB-D Camera Network Calibration with Monocular Visual Odometry | https://ieeexplore.ieee.org/document/9340825/ | [
"Kenji Koide",
"Emanuele Menegatti",
"Kenji Koide",
"Emanuele Menegatti"
] | This paper describes a calibration method for RGB-D camera networks consisting of not only static overlapping, but also dynamic and non-overlapping cameras. The proposed method consists of two steps: online visual odometry-based calibration and depth image-based calibration refinement. It first estimates the transformations between overlapping cameras using fiducial tags, and bridges non-overlappi... |
Set-Membership Extrinsic Calibration of a 3D LiDAR and a Camera | https://ieeexplore.ieee.org/document/9341266/ | [
"Raphael Voges",
"Bernardo Wagner",
"Raphael Voges",
"Bernardo Wagner"
] | To fuse information from a 3D Light Detection and Ranging (LiDAR) sensor and a camera, the extrinsic transformation between the sensor coordinate systems needs to be known. Therefore, an extrinsic calibration must be performed, which is usually based on features extracted from sensor data. Naturally, sensor errors can affect the feature extraction process, and thus distort the calibration result. ... |
Experimental Evaluation of 3D-LIDAR Camera Extrinsic Calibration | https://ieeexplore.ieee.org/document/9340911/ | [
"Subodh Mishra",
"Philip R. Osteen",
"Gaurav Pandey",
"Srikanth Saripalli",
"Subodh Mishra",
"Philip R. Osteen",
"Gaurav Pandey",
"Srikanth Saripalli"
] | In this paper we perform an extensive experimental evaluation of three planar target based 3D-LIDAR camera calibration algorithms, on a sensor suite consisting multiple 3D-LIDARs and cameras, assessing their robustness to random initialization and by using metrics like Mean Line Re-projection Error (MLRE) and Factory Stereo Calibration Error. We briefly describe each method and provide insights in... |
Kalman Filter based Range Estimation and Clock Synchronization for Ultra Wide Band Networks | https://ieeexplore.ieee.org/document/9340971/ | [
"Nushen M. Senevirathna",
"Oscar De Silva",
"George K. I. Mann",
"Raymond G. Gosine",
"Nushen M. Senevirathna",
"Oscar De Silva",
"George K. I. Mann",
"Raymond G. Gosine"
] | This paper presents the development of a Kalman filter-based range estimation technique to precisely calculate the inter-node ranges of Ultra Wide Band (UWB) modules. Relative clock tracking filters running between every anchor pair tracks relative clock dynamics while estimating the time of flight as a filter state. Both inbound and outbound message timestamps are used to update the filter to mak... |
Unified Calibration for Multi-camera Multi-LiDAR Systems using a Single Checkerboard | https://ieeexplore.ieee.org/document/9340946/ | [
"Wonmyung Lee",
"Changhee Won",
"Jongwoo Lim",
"Wonmyung Lee",
"Changhee Won",
"Jongwoo Lim"
] | In this paper, we propose a unified calibration method for multi-camera multi-LiDAR systems. Only using a single planar checkerboard, the captured checkerboard frames by each sensor are classified as either global frames if they are observed by at least two sensors, or a local frame if observed by a single camera. Both global and local frames of each camera are used to estimate its intrinsic param... |
A Learning-based Robotic Bin-picking with Flexibly Customizable Grasping Conditions | https://ieeexplore.ieee.org/document/9340904/ | [
"Hiroki Tachikake",
"Wataru Watanabe",
"Hiroki Tachikake",
"Wataru Watanabe"
] | A practical robotic bin-picking system requires a high grasp success rate for various objects. Also, the system must be capable of coping with various constraints and their changes flexibly. To resolve these issues, this study proposes a novel deep learning-based method that exploits a simulator to generate desired grasping actions. The features of this method are as follows: (1) Grasping conditio... |
Sim-to-Real Transfer of Bolting Tasks with Tight Tolerance | https://ieeexplore.ieee.org/document/9341644/ | [
"Dongwon Son",
"Hyunsoo Yang",
"Dongjun Lee",
"Dongwon Son",
"Hyunsoo Yang",
"Dongjun Lee"
] | In this paper, we propose a novel sim-to-real framework to solve bolting tasks with tight tolerance and complex contact geometry which are hard to be modeled. The sim-to-real has desirable features in terms of cost and safety, however, that of the assembly task is rare due to the lack of simulator, which can robustly render multi-contact assembly. We implement the sim-to-real transfer of nut tight... |
Combining Compliance Control, CAD Based Localization, and a Multi-Modal Gripper for Rapid and Robust Programming of Assembly Tasks | https://ieeexplore.ieee.org/document/9340869/ | [
"Gal Gorjup",
"Geng Gao",
"Anany Dwivedi",
"Minas Liarokapis",
"Gal Gorjup",
"Geng Gao",
"Anany Dwivedi",
"Minas Liarokapis"
] | Current trends in industrial automation favor agile systems that allow adaptation to rapidly changing task requirements and facilitate customized production in smaller batches. This work presents a flexible manufacturing system relying on compliance control, CAD based localization, and a multi-modal gripper to enable fast and efficient task programming for assembly operations. CAD file processing ... |
Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks | https://ieeexplore.ieee.org/document/9341570/ | [
"Leonel Rozo",
"Meng Guo",
"Andras G. Kupcsik",
"Marco Todescato",
"Philipp Schillinger",
"Markus Giftthaler",
"Matthias Ochs",
"Markus Spies",
"Nicolai Waniek",
"Patrick Kesper",
"Mathias Burger",
"Leonel Rozo",
"Meng Guo",
"Andras G. Kupcsik",
"Marco Todescato",
"Philipp Schillinger",
"Markus Giftthaler",
"Matthias Ochs",
"Markus Spies",
"Nicolai Waniek",
"Patrick Kesper",
"Mathias Burger"
] | Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current workspace configuration. Furthermore, to accomplish complex manipulation tasks, robots should be able to sequence several skills and adapt them to changing situations. In this work, we propose a rapid robot skill-sequencing a... |
Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG | https://ieeexplore.ieee.org/document/9341390/ | [
"Sabrina Hoppe",
"Markus Giftthaler",
"Robert Krug",
"Marc Toussaint",
"Sabrina Hoppe",
"Markus Giftthaler",
"Robert Krug",
"Marc Toussaint"
] | Recent progress in deep reinforcement learning has enabled agents to autonomously learn complex control strategies from scratch. Model-free approaches like Deep Deterministic Policy Gradients (DDPG) seem promising for applications with intricate dynamics, such as contact-rich manipulation tasks. However, these methods typically require large amounts of training data or meticulous hyperparameter tu... |
LegoBot: Automated Planning for Coordinated Multi-Robot Assembly of LEGO structures | https://ieeexplore.ieee.org/document/9341428/ | [
"Ludwig Nägele",
"Alwin Hoffmann",
"Andreas Schierl",
"Wolfgang Reif",
"Ludwig Nägele",
"Alwin Hoffmann",
"Andreas Schierl",
"Wolfgang Reif"
] | Multi-functional cells with cooperating teams of robots promise to be flexible, robust, and efficient and, thus, are a key to future factories. However, their programming is tedious and AI-based planning for multiple robots is computationally expensive. In this work, we present a modular and efficient two-layer planning approach for multi-robot assembly. The goal is to generate the program for coo... |
Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm | https://ieeexplore.ieee.org/document/9341638/ | [
"Paolo Di Lillo",
"Francesco Pierri",
"Fabrizio Caccavale",
"Gianluca Antonelli",
"Paolo Di Lillo",
"Francesco Pierri",
"Fabrizio Caccavale",
"Gianluca Antonelli"
] | In this paper an experimental study of set-based task-priority kinematic control for a dual-arm mobile robot is developed. The control strategy for the coordination of the two manipulators and the mobile base relies on the definition of a set of elementary tasks to be properly handled depending on their functional role. In particular, the tasks have been grouped into three categories: safety, oper... |
Collision Reaction Through Internal Stress Loading in Cooperative Manipulation | https://ieeexplore.ieee.org/document/9341221/ | [
"Victor Aladele",
"Seth Hutchinson",
"Victor Aladele",
"Seth Hutchinson"
] | Cooperative manipulation offers many advantages over single-arm manipulation. However, this comes at a cost of added complexity, both in modeling and control of multi-arm systems. Much research has been focused on determining optimal load distribution strategies based on several objective functions, some of which include manipulability, energy consumption and joint torque minimization. This paper ... |
Scalable Collaborative Manipulation with Distributed Trajectory Planning | https://ieeexplore.ieee.org/document/9340957/ | [
"Ola Shorinwa",
"Mac Schwager",
"Ola Shorinwa",
"Mac Schwager"
] | We present a distributed algorithm to enable a group of robots to collaboratively manipulate an object to a desired configuration while avoiding obstacles. Each robot solves a local optimization problem iteratively and communicates with its local neighbors, ultimately converging to the optimal trajectory of the object over a receding horizon. The algorithm scales efficiently to large groups, with ... |
High-Speed Catching by Multi-Vision Robot Hand | https://ieeexplore.ieee.org/document/9340968/ | [
"Masaki Sato",
"Akira Takahashi",
"Akio Namiki",
"Masaki Sato",
"Akira Takahashi",
"Akio Namiki"
] | In this paper, we propose the "multi-vision hand", in which a number of small high-speed cameras are mounted on the robot hand of a common 7 degrees-of-freedom robot. Also, we propose visual-servoing control by using a multi-vision system that combines the multi-vision hand and external fixed high-speed cameras. The target task was ball catching motion, which requires high-speed operation. In the ... |
High-speed Hitting Grasping with Magripper, a Highly Backdrivable Gripper using Magnetic Gear and Plastic Deformation Control | https://ieeexplore.ieee.org/document/9341175/ | [
"Satoshi Tanaka",
"Keisuke Koyama",
"Taku Senoo",
"Makoto Shimojo",
"Masatoshi Ishikawa",
"Satoshi Tanaka",
"Keisuke Koyama",
"Taku Senoo",
"Makoto Shimojo",
"Masatoshi Ishikawa"
] | In this study, Magripper, a highly backdrivable gripper, is developed to achieve high-speed hitting grasping executed seamlessly from reaching. The gripper is designed to achieve both high speed and environmental adaptability. The key element is backdrivability in terms of both hardware and control. In Magripper, a magnetic gear is introduced to passively absorb shock in the moment of contact as a... |
PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation | https://ieeexplore.ieee.org/document/9340751/ | [
"Ian H. Taylor",
"Nikhil Chavan-Dafle",
"Godric Li",
"Neel Doshi",
"Alberto Rodriguez",
"Ian H. Taylor",
"Nikhil Chavan-Dafle",
"Godric Li",
"Neel Doshi",
"Alberto Rodriguez"
] | We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows controlled high-bandwidth (5 Hz) phase transitions independent of the grasping force for manipulation of a variety of ... |
Design and Control of Roller Grasper V2 for In-Hand Manipulation | https://ieeexplore.ieee.org/document/9340953/ | [
"Shenli Yuan",
"Lin Shao",
"Connor L. Yako",
"Alex Gruebele",
"J. Kenneth Salisbury",
"Shenli Yuan",
"Lin Shao",
"Connor L. Yako",
"Alex Gruebele",
"J. Kenneth Salisbury"
] | The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a novel non-anthropomorphic robot grasper with the ability to manipulate objects by means of active surfaces at the fingertips. Active surfaces are achieved by sph... |
50 Benchmarks for Anthropomorphic Hand Function-based Dexterity Classification and Kinematics-based Hand Design | https://ieeexplore.ieee.org/document/9340982/ | [
"Jianshu Zhou",
"Yonghua Chen",
"Dickson Chun Fung Li",
"Yuan Gao",
"Yunquan Li",
"Shing Shin Cheng",
"Fei Chen",
"Yunhui Liu",
"Jianshu Zhou",
"Yonghua Chen",
"Dickson Chun Fung Li",
"Yuan Gao",
"Yunquan Li",
"Shing Shin Cheng",
"Fei Chen",
"Yunhui Liu"
] | Robotic hands with anthropomorphism considerations are of prominent popularity in human-centered environment. Existing anthropomorphic robotic hands achieving part or most of human hand comparable dexterity have been applied as various robotic end-effectors and prosthetics. However, two deficiencies are evident that the design for a dexterous anthropomorphic hand is largely based on the intuition ... |
Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN | https://ieeexplore.ieee.org/document/9341362/ | [
"Satoshi Funabashi",
"Tomoki Isobe",
"Shun Ogasa",
"Tetsuya Ogata",
"Alexander Schmitz",
"Tito Pradhono Tomo",
"Shigeki Sugano",
"Satoshi Funabashi",
"Tomoki Isobe",
"Shun Ogasa",
"Tetsuya Ogata",
"Alexander Schmitz",
"Tito Pradhono Tomo",
"Shigeki Sugano"
] | The use of tactile information is one of the most important factors for achieving stable in-grasp manipulation. Especially with low-cost robotic hands that provide low-precision control, robust in-grasp manipulation is challenging. Abundant tactile information could provide the required feed-back to achieve reliable in-grasp manipulation also in such cases. In this research, soft distributed 3-axi... |
Diabolo Orientation Stabilization by Learning Predictive Model for Unstable Unknown-Dynamics Juggling Manipulation | https://ieeexplore.ieee.org/document/9341775/ | [
"Takayuki Murooka",
"Kei Okada",
"Masayuki Inaba",
"Takayuki Murooka",
"Kei Okada",
"Masayuki Inaba"
] | Juggling manipulation is one of difficult manipulation to acquire since some of such manipulation is unstable and also its physical model is unknown due to the complex non-prehensile manipulation. To acquire these unstable unknown-dynamics juggling manipulation, we propose a method for designing the predictive model of manipulation with a deep neural network, and a real-time optimal control law wi... |
Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment | https://ieeexplore.ieee.org/document/9341316/ | [
"Aditya Patankar",
"Amin Fakhari",
"Nilanjan Chakraborty",
"Aditya Patankar",
"Amin Fakhari",
"Nilanjan Chakraborty"
] | In this paper, we study the problem of computing grasping forces for quasi-static manipulation of large and heavy objects, by exploiting object-environment contacts. We present a general formulation of this problem as a Second-Order Cone Program (SOCP) that considers (i) contact friction constraints at the object-manipulator contacts and object-environment contacts, (ii) force/moment equilibrium c... |
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands | https://ieeexplore.ieee.org/document/9341766/ | [
"Kazuki Higashi",
"Keisuke Koyama",
"Ryuta Ozawa",
"Kazuyuki Nagata",
"Weiwei Wan",
"Kensuke Harada",
"Kazuki Higashi",
"Keisuke Koyama",
"Ryuta Ozawa",
"Kazuyuki Nagata",
"Weiwei Wan",
"Kensuke Harada"
] | Synergy provides a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot perform in-hand manipulation, e.g., tasks that involve simultaneously grasping and manipulating an object. Locking the position of particular fingers of a multi-fingered hand is essential for in-hand manipulation tasks eith... |
Maintaining stable grasps during highly dynamic robot trajectories | https://ieeexplore.ieee.org/document/9341575/ | [
"Giandomenico Martucci",
"Joao Bimbo",
"Domenico Prattichizzo",
"Monica Malvezzi",
"Giandomenico Martucci",
"Joao Bimbo",
"Domenico Prattichizzo",
"Monica Malvezzi"
] | One of the key advantages of robots is the high speeds at which they can operate. In industrial settings, increased velocities can lead to higher throughputs and improved efficiency. Some manipulation tasks might require the robot to perform highly dynamic operations such as shaking, or swinging while grasping an object. These fast movements may produce high accelerations and thus give rise to ine... |
Wet Adhesion of Micro-patterned Interfaces for Stable Grasping of Deformable Objects | https://ieeexplore.ieee.org/document/9341095/ | [
"Pho Van Nguyen",
"Quan Khanh Luu",
"Yuzuru Takamura",
"Van Anh Ho",
"Pho Van Nguyen",
"Quan Khanh Luu",
"Yuzuru Takamura",
"Van Anh Ho"
] | Stable grip of wet, deformable objects is a challenging task for robotic grasping and manipulation, especially for food products' handling. The wet, slippery interfaces between the object and robotic fingers may require larger gripping force, resulting in higher risk of damaging the grasped object. This research aims to evaluate the role of micro-patterned soft pad on enhancement of wet adhesion i... |
Identification of a Human Hand Kinematics by Measuring and Merging of Nail-Based Finger Motions | https://ieeexplore.ieee.org/document/9340928/ | [
"Hidenori Tani",
"Ryo Nozawa",
"Tomomichi Sugihara",
"Hidenori Tani",
"Ryo Nozawa",
"Tomomichi Sugihara"
] | A method to identify the kinematics model of a human hand that less suffers from the skin artifact is proposed based on a fact that the movements of nails with respect to the corresponding fingertip bones are much smaller than that of skin. It consists of two stages. In the first (individual) stage, the most likely combination of joint assignments and angles of each finger is identified through a ... |
Gripping a Kitchen Knife on the Cutting Board | https://ieeexplore.ieee.org/document/9341373/ | [
"Yuechuan Xue",
"Yan-Bin Jia",
"Yuechuan Xue",
"Yan-Bin Jia"
] | Despite more than three decades of grasping research, many tools in our everyday life still pose a serious challenge for a robotic hand to grip. The level of dexterity for such a maneuver is surprisingly "high" that its execution may require a combination of closed loop controls and finger gaits. This paper studies the task of an anthropomorphic hand driven by a robotic arm to pick up and firmly h... |
Learning Bayes Filter Models for Tactile Localization | https://ieeexplore.ieee.org/document/9341420/ | [
"Tarık Keleştemur",
"Colin Keil",
"John P. Whitney",
"Robert Platt",
"Taşkın Padır",
"Tarık Keleştemur",
"Colin Keil",
"John P. Whitney",
"Robert Platt",
"Taşkın Padır"
] | Localizing and tracking the pose of robotic grippers are necessary skills for manipulation tasks. However, the manipulators with imprecise kinematic models (e.g. low-cost arms) or manipulators with unknown world coordinates (e.g. poor camera-arm calibration) cannot locate the gripper with respect to the world. In these circumstances, we can leverage tactile feedback between the gripper and the env... |
A Thermoplastic Elastomer Belt Based Robotic Gripper | https://ieeexplore.ieee.org/document/9341152/ | [
"Xingwen Zheng",
"Ningzhe Hou",
"Pascal Johannes Daniël Dinjens",
"Ruifeng Wang",
"Chengyang Dong",
"Guangming Xie",
"Xingwen Zheng",
"Ningzhe Hou",
"Pascal Johannes Daniël Dinjens",
"Ruifeng Wang",
"Chengyang Dong",
"Guangming Xie"
] | Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made fingers, novel robotic grippers are typically made of novel structures and materials, using a novel manufacturing process. In this paper, a novel robotic gripper wi... |
Generalizing Learned Manipulation Skills in Practice | https://ieeexplore.ieee.org/document/9340739/ | [
"Juan Wilches",
"Yongqiang Huang",
"Yu Sun",
"Juan Wilches",
"Yongqiang Huang",
"Yu Sun"
] | Robots should be able to learn and perform a manipulation task across different settings. This paper presents an approach that learns an RNN-based manipulation skill model from demonstrations and then generalizes the learned skill in new settings. The manipulation skill model learned from demonstrations in an initial set of setting performs well in those settings and similar ones. However, the mod... |
Robot Learning in Mixed Adversarial and Collaborative Settings | https://ieeexplore.ieee.org/document/9341753/ | [
"Seung Hee Yoon",
"Stefanos Nikolaidis",
"Seung Hee Yoon",
"Stefanos Nikolaidis"
] | Previous work has shown that interacting with a human adversary can significantly improve the efficiency of the learning process in robot grasping. However, people are not consistent in applying adversarial forces; instead they may alternate between acting antagonistically with the robot or helping the robot achieve its tasks. We propose a physical framework for robot learning in a mixed adversari... |
Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers | https://ieeexplore.ieee.org/document/9341423/ | [
"Matthew Ishige",
"Takuya Umedachi",
"Yoshihisa Ijiri",
"Tadahiro Taniguchi",
"Yoshihiro Kawahara",
"Matthew Ishige",
"Takuya Umedachi",
"Yoshihisa Ijiri",
"Tadahiro Taniguchi",
"Yoshihiro Kawahara"
] | Although picking up objects a few centimeters in size is a common task, achieving such ability in a robot manipulator remains challenging. We take a step toward solving this problem by focusing on the task of picking a 1.0-cm screw from a bulk bin using only tactile information to achieve the task. Inspired by how humans pick up small objects from a bin, we propose a "grasp-separate" strategy for ... |
Deep Gated Multi-modal Learning: In-hand Object Pose Changes Estimation using Tactile and Image Data | https://ieeexplore.ieee.org/document/9341799/ | [
"Tomoki Anzai",
"Kuniyuki Takahashi",
"Tomoki Anzai",
"Kuniyuki Takahashi"
] | For in-hand manipulation, estimation of the object pose inside the hand is one of the important functions to manipulate objects to the target pose. Since in-hand manipulation tends to cause occlusions by the hand or the object itself, image information only is not sufficient for in-hand object pose estimation. Multiple modalities can be used in this case, the advantage is that other modalities can... |
Knowledge-Based Grasp Planning Using Dynamic Self-Organizing Network | https://ieeexplore.ieee.org/document/9340959/ | [
"Shiyi Yang",
"Soo Jeon",
"Shiyi Yang",
"Soo Jeon"
] | Category-based methods for task-specified grasp planning have recently been proposed in the literature. Such methods, however, are normally time consuming in both training and grasp determination process and lack capabilities to improve grasping skills due to the fixed training data set. This paper presents an improved approach for knowledge-based grasp planning by developing a multi-layer network... |
Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand | https://ieeexplore.ieee.org/document/9340689/ | [
"Ashok M. Sundaram",
"Werner Friedl",
"Máximo A. Roa",
"Ashok M. Sundaram",
"Werner Friedl",
"Máximo A. Roa"
] | This paper deals with the problem of planning grasp strategies on constrained and cluttered scenarios. The planner sequences the objects for grasping by considering multiple factors: (i) possible environmental constraints that can be exploited to grasp an object, (ii) object neighborhood, (iii) capability of the arm, and (iv) confidence score of the vision algorithm. To successfully exploit the en... |
Self-Assessment of Grasp Affordance Transfer | https://ieeexplore.ieee.org/document/9340841/ | [
"Paola Ardón",
"Èric Pairet",
"Yvan Petillot",
"Ronald P. A. Petrick",
"Subramanian Ramamoorthy",
"Katrin S. Lohan",
"Paola Ardón",
"Èric Pairet",
"Yvan Petillot",
"Ronald P. A. Petrick",
"Subramanian Ramamoorthy",
"Katrin S. Lohan"
] | Reasoning about object grasp affordances allows an autonomous agent to estimate the most suitable grasp to execute a task. While current approaches for estimating grasp affordances are effective, their prediction is driven by hypotheses on visual features rather than an indicator of a proposal's suitability for an affordance task. Consequently, these works cannot guarantee any level of performance... |
TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path | https://ieeexplore.ieee.org/document/9341358/ | [
"Mincheul Kang",
"Heechan Shin",
"Donghyuk Kim",
"Sung-Eui Yoon",
"Mincheul Kang",
"Heechan Shin",
"Donghyuk Kim",
"Sung-Eui Yoon"
] | A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given end-effector path in the Cartesian space. In this paper, we present a trajectory optimization of a redundant manipulator (TORM) to synthesize a trajectory that follows a given end-effector path accurately, while achieving smoothness and... |
Multi-mode Trajectory Optimization for Impact-aware Manipulation | https://ieeexplore.ieee.org/document/9341246/ | [
"Theodoros Stouraitis",
"Lei Yan",
"João Moura",
"Michael Gienger",
"Sethu Vijayakumar",
"Theodoros Stouraitis",
"Lei Yan",
"João Moura",
"Michael Gienger",
"Sethu Vijayakumar"
] | The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that combines hybrid dynamics and hybrid control in a cohere... |
Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting | https://ieeexplore.ieee.org/document/9341532/ | [
"Haoran Song",
"Joshua A. Haustein",
"Weihao Yuan",
"Kaiyu Hang",
"Michael Yu Wang",
"Danica Kragic",
"Johannes A. Stork",
"Haoran Song",
"Joshua A. Haustein",
"Weihao Yuan",
"Kaiyu Hang",
"Michael Yu Wang",
"Danica Kragic",
"Johannes A. Stork"
] | In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve this, we propose to employ Monte Carlo tree search equipped with a task-specific heuristic function. We evaluate the algorithm on various simulated and real-wo... |
Learning Skills to Patch Plans Based on Inaccurate Models | https://ieeexplore.ieee.org/document/9341475/ | [
"Alex Lagrassa",
"Steven Lee",
"Oliver Kroemer",
"Alex Lagrassa",
"Steven Lee",
"Oliver Kroemer"
] | Planners using accurate models can be effective for accomplishing manipulation tasks in the real world, but are typically highly specialized and require significant fine-tuning to be reliable. Meanwhile, learning is useful for adaptation, but can require a substantial amount of data collection. In this paper, we propose a method that improves the efficiency of sub-optimal planners with approximate... |
Learning Topological Motion Primitives for Knot Planning | https://ieeexplore.ieee.org/document/9341330/ | [
"Mengyuan Yan",
"Gen Li",
"Yilin Zhu",
"Jeannette Bohg",
"Mengyuan Yan",
"Gen Li",
"Yilin Zhu",
"Jeannette Bohg"
] | In this paper, we approach the challenging problem of motion planning for knot tying. We propose a hierarchical approach in which the top layer produces a topological plan and the bottom layer translates this plan into continuous robot motion. The top layer decomposes a knotting task into sequences of abstract topological actions based on knot theory. The bottom layer translates each of these abst... |
Objective Functions of Principal Contact Estimation from Motion Based on the Geometrical Singular Condition | https://ieeexplore.ieee.org/document/9341694/ | [
"Seiya Ishikawa",
"Shouhei Shirafuji",
"Jun Ota",
"Seiya Ishikawa",
"Shouhei Shirafuji",
"Jun Ota"
] | In this paper, we propose objective functions to estimate the principal contact between a unknown manipulated target object and its unknown surroundings from the motion of the object. We derived the objective functions based on the fact that contact involves a pair of geometrical primitives (a point of vertex, a line of edge, and a plane of face) for the singular condition of the calculation for t... |
Variable In-Hand Manipulations for Tactile-Driven Robot Hand via CNN-LSTM | https://ieeexplore.ieee.org/document/9341484/ | [
"Satoshi Funabashi",
"Shun Ogasa",
"Tomoki Isobe",
"Tetsuya Ogata",
"Alexander Schmitz",
"Tito Pradhono Tomo",
"Shigeki Sugano",
"Satoshi Funabashi",
"Shun Ogasa",
"Tomoki Isobe",
"Tetsuya Ogata",
"Alexander Schmitz",
"Tito Pradhono Tomo",
"Shigeki Sugano"
] | Performing various in-hand manipulation tasks, without learning each individual task, would enable robots to act more versatile, while reducing the effort for training. However, in general it is difficult to achieve stable in-hand manipulation, because the contact state between the fingertips becomes difficult to model, especially for a robot hand with anthropomorphically shaped fingertips. Rich t... |
On Screw Linear Interpolation for Point-to-Point Path Planning | https://ieeexplore.ieee.org/document/9341651/ | [
"Anik Sarker",
"Anirban Sinha",
"Nilanjan Chakraborty",
"Anik Sarker",
"Anirban Sinha",
"Nilanjan Chakraborty"
] | Robot motion is controlled in the joint space whereas the robots have to perform tasks in their task space. Many tasks like carrying a glass of liquid, pouring liquid, opening a drawer requires constraints on the end-effector during the motion. The forward and inverse kinematic mappings between joint space and task space are highly nonlinear and multi-valued (for IK). Consequently, modeling task s... |
Model-Free, Vision-Based Object Identification and Contact Force Estimation with a Hyper-Adaptive Robotic Gripper | https://ieeexplore.ieee.org/document/9340952/ | [
"Waris Hasan",
"Lucas Gerez",
"Minas Liarokapis",
"Waris Hasan",
"Lucas Gerez",
"Minas Liarokapis"
] | Robots and intelligent industrial systems that focus on sorting or inspection of products require end-effectors that can grasp and manipulate the objects surrounding them. The capability of such systems largely depends on their ability to efficiently identify the objects and estimate the forces exerted on them. This paper presents an underactuated, compliant, and lightweight hyper-adaptive robot g... |
Acoustic Collision Detection and Localization for Robot Manipulators | https://ieeexplore.ieee.org/document/9341719/ | [
"Xiaoran Fan",
"Daewon Lee",
"Yuan Chen",
"Colin Prepscius",
"Volkan Isler",
"Larry Jackel",
"H. Sebastian Seung",
"Daniel Lee",
"Xiaoran Fan",
"Daewon Lee",
"Yuan Chen",
"Colin Prepscius",
"Volkan Isler",
"Larry Jackel",
"H. Sebastian Seung",
"Daniel Lee"
] | Collision detection is critical for safe robot operation in the presence of humans. Acoustic information originating from collisions between robots and objects provides opportunities for fast collision detection and localization; however, audio information from microphones on robot manipulators needs to be robustly differentiated from motors and external noise sources. In this paper, we present Pa... |
Estimating An Object’s Inertial Parameters By Robotic Pushing: A Data-Driven Approach | https://ieeexplore.ieee.org/document/9341112/ | [
"Nikos Mavrakis",
"Amir M. Ghalamzan E.",
"Rustam Stolkin",
"Nikos Mavrakis",
"Amir M. Ghalamzan E.",
"Rustam Stolkin"
] | Estimating the inertial properties of an object can make robotic manipulations more efficient, especially in extreme environments. This paper presents a novel method of estimating the 2D inertial parameters of an object, by having a robot applying a push on it. We draw inspiration from previous analyses on quasi-static pushing mechanics, and introduce a data-driven model that can accurately repres... |
Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds | https://ieeexplore.ieee.org/document/9340887/ | [
"Markus Wnuk",
"Christoph Hinze",
"Armin Lechler",
"Alexander Verl",
"Markus Wnuk",
"Christoph Hinze",
"Armin Lechler",
"Alexander Verl"
] | Control and localization of deformable linear objects (DLOs) require models to handle their deformation. This paper proposes an approach to automatically generate a model from available visual sensor information. Based on point cloud data obtained from a 3D stereo camera, the kinematics of a multibody model formulation are derived. The approach aims to balance the tradeoff between computational co... |
Cloth Region Segmentation for Robust Grasp Selection | https://ieeexplore.ieee.org/document/9341121/ | [
"Jianing Qian",
"Thomas Weng",
"Luxin Zhang",
"Brian Okorn",
"David Held",
"Jianing Qian",
"Thomas Weng",
"Luxin Zhang",
"Brian Okorn",
"David Held"
] | Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it is crucial to manipulate specific regions like edges and corners, as opposed to folds. In this work, we focus on the problem of segmenting and grasping these k... |
Physics-Based Dexterous Manipulations with Estimated Hand Poses and Residual Reinforcement Learning | https://ieeexplore.ieee.org/document/9340947/ | [
"Guillermo Garcia-Hernando",
"Edward Johns",
"Tae-Kyun Kim",
"Guillermo Garcia-Hernando",
"Edward Johns",
"Tae-Kyun Kim"
] | Dexterous manipulation of objects in virtual environments with our bare hands, by using only a depth sensor and a state-of-the-art 3D hand pose estimator (HPE), is challenging. While virtual environments are ruled by physics, e.g. object weights and surface frictions, the absence of force feedback makes the task challenging, as even slight inaccuracies on finger tips or contact points from HPE may... |
Affordance-Based Grasping and Manipulation in Real World Applications | https://ieeexplore.ieee.org/document/9341482/ | [
"Christoph Pohl",
"Kevin Hitzler",
"Raphael Grimm",
"Antonio Zea",
"Uwe D. Hanebeck",
"Tamim Asfour",
"Christoph Pohl",
"Kevin Hitzler",
"Raphael Grimm",
"Antonio Zea",
"Uwe D. Hanebeck",
"Tamim Asfour"
] | In real world applications, robotic solutions remain impractical due to the challenges that arise in unknown and unstructured environments. To perform complex manipulation tasks in complex and cluttered situations, robots need to be able to identify the interaction possibilities with the scene, i.e. the affordances of the objects encountered. In unstructured environments with noisy perception, ins... |
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions | https://ieeexplore.ieee.org/document/9340984/ | [
"Michael Danielczuk",
"Anelia Angelova",
"Vincent Vanhoucke",
"Ken Goldberg",
"Michael Danielczuk",
"Anelia Angelova",
"Vincent Vanhoucke",
"Ken Goldberg"
] | For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an algorithm based on learned occupancy distributions. We train a neural network using a synthetic dataset of RGBD heap images labeled for a set of standard bounding box targets with vary... |
Making Robots Draw A Vivid Portrait In Two Minutes | https://ieeexplore.ieee.org/document/9340940/ | [
"Fei Gao",
"Jingjie Zhu",
"Zeyuan Yu",
"Peng Li",
"Tao Wang",
"Fei Gao",
"Jingjie Zhu",
"Zeyuan Yu",
"Peng Li",
"Tao Wang"
] | Significant progress has been made with artistic robots. However, existing robots fail to produce high-quality portraits in a short time. In this work, we present a drawing robot, which can automatically transfer a facial picture to a vivid portrait, and then draw it on paper within two minutes averagely. At the heart of our system is a novel portrait synthesis algorithm based on deep learning. In... |
Grasping Detection Network with Uncertainty Estimation for Confidence-Driven Semi-Supervised Domain Adaptation | https://ieeexplore.ieee.org/document/9341056/ | [
"Haiyue Zhu",
"Yiting Li",
"Fengjun Bai",
"Wenjie Chen",
"Xiaocong Li",
"Jun Ma",
"Chek Sing Teo",
"Pey Yuen Tao",
"Wei Lin",
"Haiyue Zhu",
"Yiting Li",
"Fengjun Bai",
"Wenjie Chen",
"Xiaocong Li",
"Jun Ma",
"Chek Sing Teo",
"Pey Yuen Tao",
"Wei Lin"
] | Data-efficient domain adaptation with only a few labelled data is desired for many robotic applications, e.g., in grasping detection, the inference skill learned from a grasping dataset is not universal enough to directly apply on various other daily/industrial applications. This paper presents an approach enabling the easy domain adaptation through a novel grasping detection network with confiden... |
Batch Normalization Masked Sparse Autoencoder for Robotic Grasping Detection | https://ieeexplore.ieee.org/document/9341244/ | [
"Zhenzhou Shao",
"Ying Qu",
"Guangli Ren",
"Guohui Wang",
"Yong Guan",
"Zhiping Shi",
"Jindong Tan",
"Zhenzhou Shao",
"Ying Qu",
"Guangli Ren",
"Guohui Wang",
"Yong Guan",
"Zhiping Shi",
"Jindong Tan"
] | To improve the accuracy of the grasping detection, this paper proposes a novel detector with batch normalization masked evaluation model. It is designed with a two-layer sparse autoencoder, and a Batch Normalization based mask is incorporated into the second layer of the model to effectively reduce the features with weak correlation. The extracted features from such model are more distinctive, whi... |
No-Regret Shannon Entropy Regularized Neural Contextual Bandit Online Learning for Robotic Grasping | https://ieeexplore.ieee.org/document/9341123/ | [
"Kyungjae Lee",
"Jaegu Choy",
"Yunho Choi",
"Hogun Kee",
"Songhwai Oh",
"Kyungjae Lee",
"Jaegu Choy",
"Yunho Choi",
"Hogun Kee",
"Songhwai Oh"
] | In this paper, we propose a novel contextual bandit algorithm that employs a neural network as a reward estimator and utilizes Shannon entropy regularization to encourage exploration, which is called Shannon entropy regularized neural contextual bandits (SERN). In many learning-based algorithms for robotic grasping, the lack of the real-world data hampers the generalization performance of a model ... |
Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network | https://ieeexplore.ieee.org/document/9340777/ | [
"Sulabh Kumra",
"Shirin Joshi",
"Ferat Sahin",
"Sulabh Kumra",
"Shirin Joshi",
"Ferat Sahin"
] | In this paper, we present a modular robotic system to tackle the problem of generating and performing antipodal robotic grasps for unknown objects from the n-channel image of the scene. We propose a novel Generative Residual Convolutional Neural Network (GR-ConvNet) model that can generate robust antipodal grasps from n-channel input at real-time speeds (~20ms). We evaluate the proposed model arch... |
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor | https://ieeexplore.ieee.org/document/9341608/ | [
"Daniel Seita",
"Aditya Ganapathi",
"Ryan Hoque",
"Minho Hwang",
"Edward Cen",
"Ajay Kumar Tanwani",
"Ashwin Balakrishna",
"Brijen Thananjeyan",
"Jeffrey Ichnowski",
"Nawid Jamali",
"Katsu Yamane",
"Soshi Iba",
"John Canny",
"Ken Goldberg",
"Daniel Seita",
"Aditya Ganapathi",
"Ryan Hoque",
"Minho Hwang",
"Edward Cen",
"Ajay Kumar Tanwani",
"Ashwin Balakrishna",
"Brijen Thananjeyan",
"Jeffrey Ichnowski",
"Nawid Jamali",
"Katsu Yamane",
"Soshi Iba",
"John Canny",
"Ken Goldberg"
] | Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation learning to learn policies that, given color (RGB), depth (D), or combined color-depth (RGBD) images of a rectangular fabric sample, estimate pick points and pull ... |
Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously Unseen Food Items | https://ieeexplore.ieee.org/document/9341359/ | [
"Ethan K. Gordon",
"Xiang Meng",
"Tapomayukh Bhattacharjee",
"Matt Barnes",
"Siddhartha S. Srinivasa",
"Ethan K. Gordon",
"Xiang Meng",
"Tapomayukh Bhattacharjee",
"Matt Barnes",
"Siddhartha S. Srinivasa"
] | A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different environmental conditions require different manipulation strategies for successful bite acquisition. Therefore, a key challenge is how to handle previously unseen food... |
RobotVQA — A Scene-Graph- and Deep-Learning-based Visual Question Answering System for Robot Manipulation | https://ieeexplore.ieee.org/document/9341186/ | [
"Franklin Kenghagho Kenfack",
"Feroz Ahmed Siddiky",
"Ferenc Balint-Benczedi",
"Michael Beetz",
"Franklin Kenghagho Kenfack",
"Feroz Ahmed Siddiky",
"Ferenc Balint-Benczedi",
"Michael Beetz"
] | Visual robot perception has been challenging to successful robot manipulation in noisy, cluttered and dynamic environments. While some perception systems fail to provide an adequate semantics of the scene, others fail to present appropriate learning models and training data. Another major issue encountered in some robot perception systems is their inability to promptly respond to robot control pro... |
Model-Based Quality-Diversity Search for Efficient Robot Learning | https://ieeexplore.ieee.org/document/9340794/ | [
"Leon Keller",
"Daniel Tanneberg",
"Svenja Stark",
"Jan Peters",
"Leon Keller",
"Daniel Tanneberg",
"Svenja Stark",
"Jan Peters"
] | Despite recent progress in robot learning, it still remains a challenge to program a robot to deal with open-ended object manipulation tasks. One approach that was recently used to autonomously generate a repertoire of diverse skills is a novelty based Quality-Diversity (QD) algorithm. However, as most evolutionary algorithms, QD suffers from sample- inefficiency and, thus, it is challenging to ap... |
Transferring Experience from Simulation to the Real World for Precise Pick-And-Place Tasks in Highly Cluttered Scenes | https://ieeexplore.ieee.org/document/9341709/ | [
"Kilian Kleeberger",
"Markus Völk",
"Marius Moosmann",
"Erik Thiessenhusen",
"Florian Roth",
"Richard Bormann",
"Marco F. Huber",
"Kilian Kleeberger",
"Markus Völk",
"Marius Moosmann",
"Erik Thiessenhusen",
"Florian Roth",
"Richard Bormann",
"Marco F. Huber"
] | In this paper, we introduce a novel learning-based approach for grasping known rigid objects in highly cluttered scenes and precisely placing them based on depth images. Our Placement Quality Network (PQ-Net) estimates the object pose and the quality for each automatically generated grasp pose for multiple objects simultaneously at 92 fps in a single forward pass of a neural network. All grasping ... |
Generating Reactive Approach Motions Towards Allowable Manifolds using Generalized Trajectories from Demonstrations | https://ieeexplore.ieee.org/document/9340808/ | [
"Cristian Vergara",
"Santiago Iregui",
"Joris De Schutter",
"Erwin Aertbeliën",
"Cristian Vergara",
"Santiago Iregui",
"Joris De Schutter",
"Erwin Aertbeliën"
] | There is a high cost associated to the time and expertise required to program complex robot applications with high variability. This is one of the main barriers that inhibit the entry of robotic automation in small and medium-sized enterprises. To tackle the high level of task uncertainty associated with changing conditions of the environment, we propose a framework that leverages a combination be... |
Simultaneous Planning for Item Picking and Placing by Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9340929/ | [
"Tatsuya Tanaka",
"Toshimitsu Kaneko",
"Masahiro Sekine",
"Voot Tangkaratt",
"Masashi Sugiyama",
"Tatsuya Tanaka",
"Toshimitsu Kaneko",
"Masahiro Sekine",
"Voot Tangkaratt",
"Masashi Sugiyama"
] | Container loading by a picking robot is an important challenge in the logistics industry. When designing such a robotic system, item picking and placing have been planned individually thus far. However, since the condition of picking an item affects the possible candidates for placing, it is preferable to plan picking and placing simultaneously. In this paper, we propose a deep reinforcement learn... |
Distributed Reinforcement Learning of Targeted Grasping with Active Vision for Mobile Manipulators | https://ieeexplore.ieee.org/document/9341605/ | [
"Yasuhiro Fujita",
"Kota Uenishi",
"Avinash Ummadisingu",
"Prabhat Nagarajan",
"Shimpei Masuda",
"Mario Ynocente Castro",
"Yasuhiro Fujita",
"Kota Uenishi",
"Avinash Ummadisingu",
"Prabhat Nagarajan",
"Shimpei Masuda",
"Mario Ynocente Castro"
] | Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the first RL-based system, to our knowledge, for a mobile manipulator that can (a) achieve targeted grasping generalizing to unseen target objects, (b) learn comple... |
SQUIRL: Robust and Efficient Learning from Video Demonstration of Long-Horizon Robotic Manipulation Tasks | https://ieeexplore.ieee.org/document/9340915/ | [
"Bohan Wu",
"Feng Xu",
"Zhanpeng He",
"Abhi Gupta",
"Peter K. Allen",
"Bohan Wu",
"Feng Xu",
"Zhanpeng He",
"Abhi Gupta",
"Peter K. Allen"
] | Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this problem, recent works have proposed learning from expert demonstrations (LfD), particularly via inverse reinforcement learning (IRL), given its ability to achieve rob... |
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