Estimation and exploitation of objects' inertial parameters in robotic grasping and manipulation: A survey
N Mavrakis, R Stolkin - Robotics and Autonomous Systems, 2020 - Elsevier
Inertial parameters characterise an object's motion under applied forces, and can provide
strong priors for planning and control of robotic actions to manipulate the object. However …
strong priors for planning and control of robotic actions to manipulate the object. However …
Natural Language Robot Programming: NLP integrated with autonomous robotic grasping
MA Khan, M Kenney, J Painter, D Kamale… - arXiv preprint arXiv …, 2023 - arxiv.org
In this paper, we present a grammar-based natural language framework for robot
programming, specifically for pick-and-place tasks. Our approach uses a custom dictionary …
programming, specifically for pick-and-place tasks. Our approach uses a custom dictionary …
Estimating an object's inertial parameters by robotic pushing: a data-driven approach
N Mavrakis, R Stolkin - 2020 IEEE/RSJ International …, 2020 - ieeexplore.ieee.org
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 …
especially in extreme environments. This paper presents a novel method of estimating the …
Simple desired manipulability ellipsoid with velocity and force for control of redundant manipulator
Redundant manipulators are used in several areas because they can work with various
postures. They are dexterous and can avoid crashing with obstacles during working in a …
postures. They are dexterous and can avoid crashing with obstacles during working in a …
Haptic-guided grasping to minimise torque effort during robotic telemanipulation
Teleoperating robotic manipulators can be complicated and cognitively demanding for the
human operator. Despite these difficulties, teleoperated robotic systems are still popular in …
human operator. Despite these difficulties, teleoperated robotic systems are still popular in …
Choosing grasps to enable collision-free post-grasp manipulations
Consider the task of grasping the handle of a door, and then pushing it until the door opens.
These two fundamental robotics problems (selecting secure grasps of a hand on an object …
These two fundamental robotics problems (selecting secure grasps of a hand on an object …
Training robot manipulation skills through practice with digital twin of Baxter
I Verner, D Cuperman, S Gamer, A Polishuk - 2019 - learntechlib.org
This study explores an opportunity to engage first-year engineering students in practice with
a modern industrial robot Baxter and provides training in spatial skills. We developed a …
a modern industrial robot Baxter and provides training in spatial skills. We developed a …
Haptic-guided shared control grasping: collision-free manipulation
We propose a haptic-guided shared control system that provides an operator with force cues
during reach-to-grasp phase of tele-manipulation. The force cues inform the operator of …
during reach-to-grasp phase of tele-manipulation. The force cues inform the operator of …
A grasping CNN with image segmentation for mobile manipulating robot
Y Yu, Z Cao, S Liang, Z Liu, J Yu… - 2019 IEEE International …, 2019 - ieeexplore.ieee.org
This paper presents a grasping convolutional neural network with image segmentation for
mobile manipulating robot. The proposed method is cascaded by a feature pyramid network …
mobile manipulating robot. The proposed method is cascaded by a feature pyramid network …
[PDF][PDF] Visually guided robot grasping of a spacecraft's apogee kick motor
N Mavrakis, Y Gao - Proceedings of the 15th Symposium on …, 2019 - researchgate.net
To rigidly grasp an orbital target, an autonomous spacecraft needs specially designed end-
effectors that are complicated, costly, and hard to generalise to other objects. This paper …
effectors that are complicated, costly, and hard to generalise to other objects. This paper …