6 papers
A low-cost mockup to simulate robotic laser cutting in nuclear decommissioning
Frederico Fernandes Afonso Silva, Murilo Marques Marinho, Bruno Vilhena Adorno
This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting…
Coverage First Next Best View for Inspection of Cluttered Pipe Networks Using Mobile Manipulators
Joshua Raymond Bettles, Jiaxu Wu, Bruno Vilhena Adorno +2
Robotic inspection of radioactive areas enables operators to be removed from hazardous environments; however, planning and operating in confined, cluttered environments remain chal…
Automated Robotic Needle Puncture for Percutaneous Dilatational Tracheostomy
Yuan Tang, Bruno V. Adorno, Brendan A. McGrath +1
Percutaneous dilatational tracheostomy (PDT) is frequently performed on patients in intensive care units for prolonged mechanical ventilation. The needle puncture, as the most crit…
A receding-horizon multi-contact motion planner for legged robots in challenging environments
Daniel S. J. Derwent, Simon Watson, Bruno V. Adorno
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow p…
Object-Reconstruction-Aware Whole-body Control of Mobile Manipulators
Fatih Dursun, Bruno Vilhena Adorno, Simon Watson +1
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in…
A study on the effects of mixed explicit and implicit communications in human-artificial-agent interactions
Ana Christina Almada Campos, Bruno Vilhena Adorno
Communication between humans and artificial agents is essential for their interaction. This is often inspired by human communication, which uses gestures, facial expressions, gaze…