Naresh Marturi
Naresh Marturi
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Robotic Grasping of Deformable Objects
Handling object deformations for robotic grasping is still a major problem to solve. In this work, we propose an efficient learning-free solution for this problem where generated grasp hypotheses of a region of an object are adapted to its deformed configurations. To this end, we investigate the applicability of functional map (FM) correspondence, where the shape matching problem is treated as searching for correspondences between geometric functions in a reduced basis. For a user selected region of an object, a ranked list of grasp candidates is generated with local contact moment (LoCoMo) based grasp planner. The proposed FM-based methodology maps these candidates to an instance of the object that has suffered arbitrary level of deformation. The best grasp, by analysing its kinematic feasibility while respecting the original finger configuration as much as possible, is then executed on the object.
ICRA Paper: ieeexplore.ieee.org/abstract/document/9812141
Paper Link: arxiv.org/pdf/2203.00776.pdf
มุมมอง: 77

วีดีโอ

Coordinated motioning planning of a mobile manipulator robot
มุมมอง 49ปีที่แล้ว
Path planning for mobile manipulator robots under non-holonomic and task constraints. Paper: ieeexplore.ieee.org/document/9340760 Link: ras.papercept.net/images/temp/IROS/files/0939.pdf
Haptic-guided tele-manipulation for grasping desired objects from a pile
มุมมอง 104ปีที่แล้ว
Haptic-guided tele-manipulation for grasping desired objects from a pile
Visual servoing using point clouds (3D model/cloud alignment method)
มุมมอง 126ปีที่แล้ว
This video shows a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Preprint: arxiv.org/abs/2303.15857 (Accepted to ICRA'23) Music: Bensound.com/royalty-free-music License code: F5VEKSKK0ST5MOIX
ERL's Autonomous Robotic Grasping in BBC News at One
มุมมอง 1123 ปีที่แล้ว
ERL's Autonomous Robotic Grasping in BBC News at One
SpectGRASP: SpectGRASP: Robotic Grasping by Spectral Correlation
มุมมอง 783 ปีที่แล้ว
IROS 2021 Accepted paper: arxiv.org/abs/2107.12492 This work presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object's surface matching the hand configuration. It neither requires offline training nor a-priori object models. We propose a novel Binary ...
Gaze Control of a Robot Head
มุมมอง 1363 ปีที่แล้ว
This work, presented at IEEE Humanoids 2015, addresses the problem of gaze control for a humanoid robot head. We propose a control framework comprised of two components: 1) an adaptive visual tracker that is capable of tracking an arbitrary object with unknown trajectory; 2) an optimised visual control strategy capable of controlling all joint motions of a redundant head-neck mechanism in order...
Simultaneous Tactile Exploration and Robotic Grasp Refinement for Unknown Objects
มุมมอง 2273 ปีที่แล้ว
This work addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will have only a partial camera view of the near side of an observed object, for which the far side remains occluded. We show how an initial grasp attempt, based ...
Vision-guided Robot State Estimation
มุมมอง 1123 ปีที่แล้ว
This work presents a vision-based approach for estimating the configuration of, and providing control signals for, an under-sensored robot manipulator using a single monocular camera. Some remote manipulators, used for decommissioning tasks in the nuclear industry, lack proprioceptive sensors because electronics are vulnerable to radiation. Additionally, even if proprioceptive joint sensors cou...
Assisted Telemanipulation - Combining Autonomous Grasp planning with Haptic Cues
มุมมอง 2284 ปีที่แล้ว
This work presents an assisted telemanipulation approach with integrated grasp planning. It shows how the human teleoperation performance benefits from the incorporated visual and haptic cues while manipulating objects in cluttered environments. Full paper: ieeexplore.ieee.org/abstract/document/8968454
ERL Grasping
มุมมอง 1945 ปีที่แล้ว
Model-free grasp planning from the Extreme Robotics Laboratory, University of Birmingham, UK
Singularity-robust inverse kinematics solver for tele-manipulation
มุมมอง 5605 ปีที่แล้ว
This video demonstrates our singularity-robust IK solver. Paper link: ieeexplore.ieee.org/document/8842871
Vrep-C++ Remote communication with visual studio 2013
มุมมอง 7K5 ปีที่แล้ว
Update: replaced old code with new VS 2017 solution This explains how to run simulations in vrep with C . Example source code of the video can be found at: tinyurl.com/yylmrgfj. Thanks for the update Charles, for latest versions of visual studio add an extra preprocessor macro: DO_NOT_USE_SHARED_MEMORY (at 3:34 in video)
Model-free and learning-free grasping by Local Contact Moment matching
มุมมอง 3116 ปีที่แล้ว
This work addresses the problem of grasping arbitrarily shaped objects, observed as partial point-clouds, without requiring: models of the objects, physics parameters, training data, or other apriori knowledge. A grasp metric is proposed based on Local Contact Moment (LoCoMo). LoCoMo combines zero-moment shift features, of both hand and object surface patches, to determine local similarity. Thi...
KR20 Path planning
มุมมอง 2367 ปีที่แล้ว
KR20 Path planning
A Local-Global Coupled-Layer Puppet Model for Robust Online Human Pose Tracking
มุมมอง 697 ปีที่แล้ว
A Local-Global Coupled-Layer Puppet Model for Robust Online Human Pose Tracking
3D robot parts tracking for state estimation
มุมมอง 1087 ปีที่แล้ว
3D robot parts tracking for state estimation
Humanoid head gaze control
มุมมอง 957 ปีที่แล้ว
Humanoid head gaze control
Robotic Grasping of Moving Objects by dynamic re-planning
มุมมอง 4.4K8 ปีที่แล้ว
Robotic Grasping of Moving Objects by dynamic re-planning
Robotic Grasp Planning by Learning
มุมมอง 4.2K8 ปีที่แล้ว
Robotic Grasp Planning by Learning
Visual Servoing Schemes for Automatic Nanopositioning in Scanning Electron Microscope
มุมมอง 27410 ปีที่แล้ว
Visual Servoing Schemes for Automatic Nanopositioning in Scanning Electron Microscope
Visual servoing-based Autofocusing in Scanning Electron Microscope
มุมมอง 25410 ปีที่แล้ว
Visual servoing-based Autofocusing in Scanning Electron Microscope
Drift compensation in SEM
มุมมอง 34010 ปีที่แล้ว
Drift compensation in SEM
Integration of the Humanoid Robot Nao inside a Smart Home
มุมมอง 815K14 ปีที่แล้ว
Integration of the Humanoid Robot Nao inside a Smart Home

ความคิดเห็น

  • @IAmPrincipality
    @IAmPrincipality ปีที่แล้ว

    This is cool and all, but who wants to wait an hour for this robot to grab them a drink?

  • @yiweichen1883
    @yiweichen1883 ปีที่แล้ว

    🤔cool work!

  • @ajayjadhav900
    @ajayjadhav900 2 ปีที่แล้ว

    How to include sub-directories in Visual Studio? I have to include many header files, which are in different sub-directories. Is there a way in Visual Studio (I am using 2013 edition) to set one include path that Visual Studio will search also the sub-directories for header files? My Project is in C/C++. Add the "base folder" to the project (project properties -> Configuration Properties -> C/C++ -> Additional Include Directories, "additional include directories") I have tried the above option but it is not possible for me to add each and every directory followed by a semicolon. I have total 60 + different C C++ sub-directories

  • @biyonfernando7640
    @biyonfernando7640 3 ปีที่แล้ว

    Thank you. It was very helpful

  • @supundasanthakuruppu3496
    @supundasanthakuruppu3496 3 ปีที่แล้ว

    Thank you very much. This helped a lot!

  • @traceyhoffman3532
    @traceyhoffman3532 3 ปีที่แล้ว

    He is not a butler, if you can't say something nice don't say anything at all...

  • @mirandolina6282
    @mirandolina6282 3 ปีที่แล้ว

    Îl vreau,dar cu meniu in limba română

  • @023-mohammadsyawal7
    @023-mohammadsyawal7 3 ปีที่แล้ว

    thankyou helped alot sir

  • @humayunnaveedkhan1281
    @humayunnaveedkhan1281 4 ปีที่แล้ว

    3:40

  • @sorrelofsuccess5513
    @sorrelofsuccess5513 4 ปีที่แล้ว

    Спасибо большое! Низкий поклон

  • @scoobycrush9231
    @scoobycrush9231 4 ปีที่แล้ว

    I think it would be better to program him to slide instead of taking steps to the refrigerator. Of course after wheels were installed on the bottom of his feet. It would be faster. Other than that, pretty good.

  • @ankurgiri7589
    @ankurgiri7589 4 ปีที่แล้ว

    Severity Code Description Project File Line Suppression State Suppression State Error LNK2001 unresolved external symbol map_shared_memory C:\Users\Ankur Giri\Desktop\task1#cb\3.CB Project\extApiPlatform.obj 1 I m getting this error how to resolve this

  • @andrewlin2483
    @andrewlin2483 4 ปีที่แล้ว

    Thanks for the tutorial, that helped a lot. Do you know where need to be changed if I want to use it in different robot? I've changed joint names to my robot joint names, but it doesn't move even though the connection it says is success.

  • @ei8ki
    @ei8ki 5 ปีที่แล้ว

    Great tutorial. Thanks very much.

  • @MegaMoha1989
    @MegaMoha1989 5 ปีที่แล้ว

    Thank you Sir, this helped a lot.

  • @heyh4717
    @heyh4717 5 ปีที่แล้ว

    Hello,Have you tried to use vs code to configure it so that vs code and vrep can communicate.I have trouble with it

    • @NareshMarturi
      @NareshMarturi 5 ปีที่แล้ว

      Hi, No I haven't tried it with VS code

    • @heyh4717
      @heyh4717 5 ปีที่แล้ว

      ok,Thank you

  • @tx6723
    @tx6723 5 ปีที่แล้ว

    or for codeblocks windows?

    • @NareshMarturi
      @NareshMarturi 5 ปีที่แล้ว

      If it is for Codeblocks Windows, the code should work fine, not tested though. You just have to make sure that the libraries are properly linked.

  • @yx2985
    @yx2985 5 ปีที่แล้ว

    thanks a lot,very nice video

  • @charlessheider3151
    @charlessheider3151 5 ปีที่แล้ว

    earlier version of Visual Studio, like 2015 and 2017 you maybe will need to add in preprocesso configuration (3:34 time in the video): DO_NOT_USE_SHARED_MEMORY this can be found in this page: www.coppeliarobotics.com/helpFiles/en/remoteApiClientSide.htm

  • @tx6723
    @tx6723 5 ปีที่แล้ว

    cool, is there one for mac/xcode too?

  • @HowToBeta
    @HowToBeta 5 ปีที่แล้ว

    Nice video. Can you please tell me how to walk this robot slowly as seen in this video?

  • @Logic_Lab_Robotics
    @Logic_Lab_Robotics 5 ปีที่แล้ว

    C++ cannot open source file "v_repConst.h"

    • @NareshMarturi
      @NareshMarturi 5 ปีที่แล้ว

      Check if you got that file in the include path (see at 2:15 in the video)

    • @Logic_Lab_Robotics
      @Logic_Lab_Robotics 5 ปีที่แล้ว

      I did that but it seems to be missing it tho

  • @christisrisen6774
    @christisrisen6774 6 ปีที่แล้ว

    It Looks As If This Robot Has Been Doing alot of Drinking Himself The Way He is Walking all Drunk.

  • @deanmccormack482
    @deanmccormack482 6 ปีที่แล้ว

    I know he was really slow

  • @GuardianTiger
    @GuardianTiger 6 ปีที่แล้ว

    FOR ALL THAT SAYS HES SLOW WHICH HE IS WELL... NOW HES MUCH MUCH SMARTER AND FASTER YOUR WELCOME

  • @airindiana
    @airindiana 6 ปีที่แล้ว

    Yeah don’t run man

  • @michaelbryan3900
    @michaelbryan3900 6 ปีที่แล้ว

    I will now bring your drink, sorry that you're now ninety years old!

  • @ojcdecato3163
    @ojcdecato3163 6 ปีที่แล้ว

    Oh come on have a robot call you master and get drinks for you?

  • @an-internet-user6398
    @an-internet-user6398 6 ปีที่แล้ว

    By the time the bots gets my drink I already died from thirst ...

  • @benyasben8700
    @benyasben8700 6 ปีที่แล้ว

    ROBOT NAO PINTAR 👍

  • @benyasben8700
    @benyasben8700 6 ปีที่แล้ว

    SAYA TINGGAL DI INDONESIA

  • @benyasben8700
    @benyasben8700 6 ปีที่แล้ว

    INSTARGAM & FACEBOOK NOMO HP SAYA O85264884863

  • @benyasben8700
    @benyasben8700 6 ปีที่แล้ว

    SAYA MAU BELI ROBOT NAO INI NOMOR SAYA O85264884863

  • @paulweaver2779
    @paulweaver2779 6 ปีที่แล้ว

    Pass the butter

  • @antropologopurpura9306
    @antropologopurpura9306 6 ปีที่แล้ว

    that robot stole my soda XD

  • @mr.g-sez
    @mr.g-sez 7 ปีที่แล้ว

    if i buy this thing i will uprade an retractable wheel system(hardware+software) and get a patent of it. in some situations wheels would be much better and faster...

  • @mr.g-sez
    @mr.g-sez 7 ปีที่แล้ว

    his eyes looks like ghost eyes

  • @Shsishsgsk
    @Shsishsgsk 7 ปีที่แล้ว

    still far back in terms of tech, these robots can hardly walk across the house, has to use algorithms for decision making, futher more its not an (operating system) by itself "AI",these blokes should spend time focusing in on making operating systems integrated into robots for themselves to be "ai" in general, whats the point of using algorithms when you have the internet for knowledge? if android has an os that can speak and connect to do multiple things with a wireless connection i dont see why a robot cant. engineering a robot isnt that hard given the fact that if people are able to come up with robots like from the movies, they will have to think out the box for such to happen,(i robot) will smiths movie, i know many of you know this movie, its one of my first sci-fi movie seen as a child, what i love about the movie is the robot itself, the way it thinks,moves, decision,timing, all of that in a single core unit? hows that possible? it is.. very much indeed, if a computer has a motherboard with all its chips assigned ,intel,bla-bla, its a computer, and itl stay a computer, but how about a single cored unit powering a whole pc? everybody has an opinon on threading .. why thread when you can simplify to the minimalist?" IBM unveils its most powerful quantum processor yet" still stuck on threading.. mother boards after mother boards, chips after chips, cant it all be processed into one tiny miniscule object? okay and then comes in circuit board wow... much anticipation towards technology, how about power? singularity is part of life, nothing stands subjective...

  • @vashistasciencetech3668
    @vashistasciencetech3668 7 ปีที่แล้ว

    How many years will it bring drink

  • @ANAN-er8rg
    @ANAN-er8rg 7 ปีที่แล้ว

    Is so slow

  • @hippiewithacowboyhat
    @hippiewithacowboyhat 7 ปีที่แล้ว

    Is that the new sex robot ? Nice, but I want bigger boobs on mine...

  • @anwarnassredine3811
    @anwarnassredine3811 7 ปีที่แล้ว

    so slow -_-

  • @karthicksai7029
    @karthicksai7029 7 ปีที่แล้ว

    awesom

  • @nazmussakib1551
    @nazmussakib1551 8 ปีที่แล้ว

    innocent cute robot lol

  • @jerhub8517
    @jerhub8517 8 ปีที่แล้ว

    Why the hell did anyone dislike this video? Philistines.

  • @cit1zz3n.ex3
    @cit1zz3n.ex3 8 ปีที่แล้ว

    Please tell me how to get those robots because I'm too lazy to do things myself

    • @cameronmeyn9355
      @cameronmeyn9355 8 ปีที่แล้ว

      stanley Gaming there $6k to $8k get one by seaching NAO

  • @daisysuperbunny
    @daisysuperbunny 8 ปีที่แล้ว

    please can you get me one of those robots for free plz

  • @tank123103
    @tank123103 8 ปีที่แล้ว

    this is just stupid slowest thing in the world I could have for a drink and heated up food before that thing got to the kitchen

  • @david.craig.grandpalemonca9111
    @david.craig.grandpalemonca9111 8 ปีที่แล้ว

    Can you deliver it to me I live in Ireland in Vorderman Dublin can you order it 117 is my door Number

  • @mrlegacy8588
    @mrlegacy8588 8 ปีที่แล้ว

    When it is 2000 dollars let me know.