Catgrasp: Learning category-level task-relevant grasping in clutter from simulation
Task-relevant grasping is critical for industrial assembly, where downstream manipulation
tasks constrain the set of valid grasps. Learning how to perform this task, however, is …
tasks constrain the set of valid grasps. Learning how to perform this task, however, is …
Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and …
M Talha, EAM Ghalamzan, C Takahashi… - … on Safety, Security …, 2016 - ieeexplore.ieee.org
This paper explores the problems of developing robotic systems for decommissioning
legacy nuclear infrastructure, such as the many contaminated gloveboxes present in UK …
legacy nuclear infrastructure, such as the many contaminated gloveboxes present in UK …
Task-oriented grasping with semantic and geometric scene understanding
We present a task-oriented grasp model, that encodes grasps that are configurationally
compatible with a given task. For instance, if the task is to pour liquid from a container, the …
compatible with a given task. For instance, if the task is to pour liquid from a container, the …
Robot learning from demonstrations: Emulation learning in environments with moving obstacles
M Ragaglia - Robotics and autonomous systems, 2018 - Elsevier
In this paper, we present an approach to the problem of Robot Learning from Demonstration
(RLfD) in a dynamic environment, ie an environment whose state changes throughout the …
(RLfD) in a dynamic environment, ie an environment whose state changes throughout the …
A multi-level optimization framework for simultaneous grasping and motion planning
S Zimmermann, G Hakimifard, M Zamora… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
We present an optimization framework for grasp and motion planning in the context of
robotic assembly. Typically, grasping locations are provided by higher level planners or as …
robotic assembly. Typically, grasping locations are provided by higher level planners or as …
Planning maximum-manipulability cutting paths
T Pardi, V Ortenzi, C Fairbairn, T Pipe… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
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 …
robot to move its end-effector over an observed surface, given start and destination points …
Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions
EAM Ghalamzan, F Abi-Farraj… - 2017 IEEE/RSJ …, 2017 - ieeexplore.ieee.org
This paper addresses the problem of mixed initiative, shared control for master-slave
grasping and manipulation. We propose a novel system, in which an autonomous agent …
grasping and manipulation. We propose a novel system, in which an autonomous agent …
Generalized affordance templates for mobile manipulation
This paper presents recent advances to the Affordance Template (AT) task description
language. Affordance Templates provide standardized, easy-to-use tools for defining robot …
language. Affordance Templates provide standardized, easy-to-use tools for defining robot …
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 …
Analysis of the inertia and dynamics of grasped objects, for choosing optimal grasps to enable torque-efficient post-grasp manipulations
This paper addresses the problem of choosing between several different possible grasps on
an object, in order to enable efficient manipulation of that object after it has been grasped. In …
an object, in order to enable efficient manipulation of that object after it has been grasped. In …