Autonomous and reliable robotic grasping is a desirable functionality in robotic manipulation and is still an open problem. Standardized benchmarks are important tools for evaluating and comparing robotic grasping and manipulation systems among different research groups, and also for sharing with the community the best practices to learn from errors. An ideal benchmarking … [Read more...] about The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems
Planning
GRASPA-fying the Panda: Easily Deployable, Fully Reproducible Benchmarking of Grasp Planning Algorithms
Although robotic grasp planning has been extensively studied in the literature, comparing the performance of different approaches still proves challenging due to the lack of standardization in hardware setup and benchmarking protocols. This work addresses the issue with a threefold contribution. First, it provides a standardized hardware platform and a software framework … [Read more...] about GRASPA-fying the Panda: Easily Deployable, Fully Reproducible Benchmarking of Grasp Planning Algorithms
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to … [Read more...] about Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in Traversability Prediction of Planetary Rovers
In an extreme environment, such as Mars or a volcanic area, mobile robots have been used in scientific missions, or as precursors for a future manned mission. The robot called a planetary exploration rover is managed by a space-qualified, radiation-hardened, and low-clock onboard computer, and autonomously travels over challenging terrain. For more about this … [Read more...] about Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in Traversability Prediction of Planetary Rovers
Superresolution of Lunar Satellite Images for Enhanced Robotic Traverse Planning: Maximizing the Value of Existing Data Products for Space Robotics
Lunar exploration missions require detailed and accurate planning to ensure their safety. Remote sensing data, such as optical satellite imagery acquired by lunar orbiters, are key for the identification of future landing and mission sites. Here robot- and astronaut-scale obstacles are the most relevant to resolve; however, the spatial resolution of the available image data is … [Read more...] about Superresolution of Lunar Satellite Images for Enhanced Robotic Traverse Planning: Maximizing the Value of Existing Data Products for Space Robotics