Footstep planning for autonomous walking over rough terrain
To increase the speed of operation and reduce operator burden, humanoid robots must be
able to function autonomously, even in complex, cluttered environments. For this to be …
able to function autonomously, even in complex, cluttered environments. For this to be …
Bi-manual articulated robot teleoperation using an external RGB-D range sensor
EJ Rolley-Parnell, D Kanoulas… - … , Robotics and Vision …, 2018 - ieeexplore.ieee.org
In this paper, we present an implementation of a bi-manual teleoperation system, controlled
by a human through three-dimensional (3D) skeleton extraction. The input data is given from …
by a human through three-dimensional (3D) skeleton extraction. The input data is given from …
Center-of-mass-based grasp pose adaptation using 3d range and force/torque sensing
Lifting objects, whose mass may produce high wrist torques that exceed the hardware
strength limits, could lead to unstable grasps or serious robot damage. This work introduces …
strength limits, could lead to unstable grasps or serious robot damage. This work introduces …
Affordance-based grasping and manipulation in real world applications
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 …
arise in unknown and unstructured environments. To perform complex manipulation tasks in …
Detecting usable planar regions for legged robot locomotion
Awareness of the environment is essential for mobile robots. Perception for legged robots
requires high levels of reliability and accuracy in order to walk stably in the types of complex …
requires high levels of reliability and accuracy in order to walk stably in the types of complex …
Memory-centered and Affordance-based Framework for Mobile Manipulation
Performing versatile mobile manipulation actions in human-centered environments requires
highly sophisticated software frameworks that are flexible enough to handle special use …
highly sophisticated software frameworks that are flexible enough to handle special use …
[PDF][PDF] MAkE-able: Memory-centered and Affordance-based Task Execution Framework for Transferable Mobile Manipulation Skills
C Pohl, F Reister, F Peller-Konrad… - arXiv preprint arXiv …, 2024 - h2t.iar.kit.edu
To perform versatile mobile manipulation tasks in human-centered environments, the ability
to efficiently transfer learned tasks and experiences from one robot to another or across …
to efficiently transfer learned tasks and experiences from one robot to another or across …
Visual grasp affordance localization in point clouds using curved contact patches
Detecting affordances on objects is one of the main open problems in robotic manipulation.
This paper presents a new method to represent and localize grasp affordances as bounded …
This paper presents a new method to represent and localize grasp affordances as bounded …
Robust shared autonomy for mobile manipulation with continuous scene monitoring
This work presents a fully integrated system for reliable grasping and manipulation using
dense visual mapping, collision-free motion planning, and shared autonomy. The particular …
dense visual mapping, collision-free motion planning, and shared autonomy. The particular …
Humanoid robotic system for grasping and manipulation in decontamination tasks: Humanoides Robotersystem für das Greifen und Manipulieren bei …
The disposal of nuclear waste poses a long-standing problem, which has been
conventionally handled by human workers. This includes carrying heavy objects, exposure …
conventionally handled by human workers. This includes carrying heavy objects, exposure …