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
zhlédnutí: 68

Video

Coordinated motioning planning of a mobile manipulator robot
zhlédnutí 48Před rokem
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
zhlédnutí 97Před rokem
Haptic-guided tele-manipulation for grasping desired objects from a pile
Visual servoing using point clouds (3D model/cloud alignment method)
zhlédnutí 122Před rokem
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
zhlédnutí 109Před 2 lety
ERL's Autonomous Robotic Grasping in BBC News at One
SpectGRASP: SpectGRASP: Robotic Grasping by Spectral Correlation
zhlédnutí 77Před 3 lety
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
zhlédnutí 134Před 3 lety
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
zhlédnutí 226Před 3 lety
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
zhlédnutí 108Před 3 lety
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
zhlédnutí 226Před 3 lety
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
zhlédnutí 191Před 5 lety
Model-free grasp planning from the Extreme Robotics Laboratory, University of Birmingham, UK
Singularity-robust inverse kinematics solver for tele-manipulation
zhlédnutí 557Před 5 lety
This video demonstrates our singularity-robust IK solver. Paper link: ieeexplore.ieee.org/document/8842871
Vrep-C++ Remote communication with visual studio 2013
zhlédnutí 7KPřed 5 lety
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
zhlédnutí 308Před 6 lety
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
zhlédnutí 233Před 7 lety
KR20 Path planning
A Local-Global Coupled-Layer Puppet Model for Robust Online Human Pose Tracking
zhlédnutí 69Před 7 lety
A Local-Global Coupled-Layer Puppet Model for Robust Online Human Pose Tracking
3D robot parts tracking for state estimation
zhlédnutí 107Před 7 lety
3D robot parts tracking for state estimation
Humanoid head gaze control
zhlédnutí 95Před 7 lety
Humanoid head gaze control
Robotic Grasping of Moving Objects by dynamic re-planning
zhlédnutí 4,4KPřed 8 lety
Robotic Grasping of Moving Objects by dynamic re-planning
Robotic Grasp Planning by Learning
zhlédnutí 4,1KPřed 8 lety
Robotic Grasp Planning by Learning
Visual Servoing Schemes for Automatic Nanopositioning in Scanning Electron Microscope
zhlédnutí 274Před 10 lety
Visual Servoing Schemes for Automatic Nanopositioning in Scanning Electron Microscope
Visual servoing-based Autofocusing in Scanning Electron Microscope
zhlédnutí 254Před 10 lety
Visual servoing-based Autofocusing in Scanning Electron Microscope
Drift compensation in SEM
zhlédnutí 339Před 10 lety
Drift compensation in SEM
Integration of the Humanoid Robot Nao inside a Smart Home
zhlédnutí 815KPřed 14 lety
Integration of the Humanoid Robot Nao inside a Smart Home

Komentáře

  • @IAmPrincipality
    @IAmPrincipality Před rokem

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

  • @yiweichen1883
    @yiweichen1883 Před rokem

    🤔cool work!

  • @ajayjadhav900
    @ajayjadhav900 Před 2 lety

    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 Před 2 lety

    Thank you. It was very helpful

  • @supundasanthakuruppu3496

    Thank you very much. This helped a lot!

  • @traceyhoffman3532
    @traceyhoffman3532 Před 3 lety

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

  • @mirandolina6282
    @mirandolina6282 Před 3 lety

    Îl vreau,dar cu meniu in limba română

  • @023-mohammadsyawal7
    @023-mohammadsyawal7 Před 3 lety

    thankyou helped alot sir

  • @humayunnaveedkhan1281

    3:40

  • @sorrelofsuccess5513
    @sorrelofsuccess5513 Před 4 lety

    Спасибо большое! Низкий поклон

  • @scoobycrush9231
    @scoobycrush9231 Před 4 lety

    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 Před 4 lety

    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 Před 4 lety

    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.

  • @ei8ki638
    @ei8ki638 Před 4 lety

    Great tutorial. Thanks very much.

  • @MegaMoha1989
    @MegaMoha1989 Před 4 lety

    Thank you Sir, this helped a lot.

  • @heyh4717
    @heyh4717 Před 5 lety

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

  • @tx6723
    @tx6723 Před 5 lety

    or for codeblocks windows?

    • @NareshMarturi
      @NareshMarturi Před 5 lety

      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 Před 5 lety

    thanks a lot,very nice video

  • @charlessheider3151
    @charlessheider3151 Před 5 lety

    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 Před 5 lety

    cool, is there one for mac/xcode too?

  • @HowToBeta
    @HowToBeta Před 5 lety

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

  • @Logic_Lab_Robotics
    @Logic_Lab_Robotics Před 5 lety

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

    • @NareshMarturi
      @NareshMarturi Před 5 lety

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

    • @Logic_Lab_Robotics
      @Logic_Lab_Robotics Před 5 lety

      I did that but it seems to be missing it tho

  • @christisrisen6774
    @christisrisen6774 Před 6 lety

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

  • @deanmccormack482
    @deanmccormack482 Před 6 lety

    I know he was really slow

  • @GuardianTiger
    @GuardianTiger Před 6 lety

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

  • @airindiana
    @airindiana Před 6 lety

    Yeah don’t run man

  • @michaelbryan3900
    @michaelbryan3900 Před 6 lety

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

  • @ojcdecato3163
    @ojcdecato3163 Před 6 lety

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

  • @an-internet-user6398
    @an-internet-user6398 Před 6 lety

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

  • @benyasben8700
    @benyasben8700 Před 6 lety

    ROBOT NAO PINTAR 👍

  • @benyasben8700
    @benyasben8700 Před 6 lety

    SAYA TINGGAL DI INDONESIA

  • @benyasben8700
    @benyasben8700 Před 6 lety

    INSTARGAM & FACEBOOK NOMO HP SAYA O85264884863

  • @benyasben8700
    @benyasben8700 Před 6 lety

    SAYA MAU BELI ROBOT NAO INI NOMOR SAYA O85264884863

  • @paulweaver2779
    @paulweaver2779 Před 6 lety

    Pass the butter

  • @antropologopurpura9306

    that robot stole my soda XD

  • @mr.g-sez
    @mr.g-sez Před 7 lety

    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 Před 7 lety

    his eyes looks like ghost eyes

  • @Shsishsgsk
    @Shsishsgsk Před 7 lety

    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

    How many years will it bring drink

  • @ANAN-er8rg
    @ANAN-er8rg Před 7 lety

    Is so slow

  • @hippiewithacowboyhat
    @hippiewithacowboyhat Před 7 lety

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

  • @anwarnassredine3811
    @anwarnassredine3811 Před 7 lety

    so slow -_-

  • @karthicksai7029
    @karthicksai7029 Před 7 lety

    awesom

  • @nazmussakib1551
    @nazmussakib1551 Před 7 lety

    innocent cute robot lol

  • @jerhub8517
    @jerhub8517 Před 7 lety

    Why the hell did anyone dislike this video? Philistines.

  • @cit1zz3n.ex3
    @cit1zz3n.ex3 Před 7 lety

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

    • @cameronmeyn9355
      @cameronmeyn9355 Před 7 lety

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

  • @daisysuperbunny
    @daisysuperbunny Před 8 lety

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

  • @tank123103
    @tank123103 Před 8 lety

    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

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

  • @mrlegacy8588
    @mrlegacy8588 Před 8 lety

    When it is 2000 dollars let me know.