107 citations · 529 across the 30 of their papers we have counts for
9 papers · 1 filter
Estimation and Exploitation of Objects' Inertial Parameters in Robotic Grasping and Manipulation: A Survey
Nikos Mavrakis, Rustam Stolkin
Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. Howeve…
Mixed-Initiative variable autonomy for remotely operated mobile robots
Manolis Chiou, Nick Hawes, Rustam Stolkin
This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy…
Maximally manipulable vision-based motion planning for robotic rough-cutting on arbitrarily shaped surfaces
T. Pardi, V. Ortenzi, C. Fairbairn +3
This paper 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 point…
Robust and fast generation of top and side grasps for unknown objects
Brice Denoun, Beatriz Leon, Claudio Zito +3
In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camer…
2D Linear Time-Variant Controller for Human's Intention Detection for Reach-to-Grasp Trajectories in Novel Scenes
Claudio Zito, Tomasz Deregowski, Rustam Stolkin
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human op…
Automatic Detection of Myocontrol Failures Based upon Situational Context Information
Karoline Heiwolt, Claudio Zito, Markus Nowak +2
Myoelectric control systems for assistive devices are still unreliable. The user's input signals can become unstable over time due to e.g. fatigue, electrode displacement, or sweat…
Metrics and Benchmarks for Remote Shared Controllers in Industrial Applications
Claudio Zito, Maxime Adjigble, Brice D. Denoun +3
Remote manipulation is emerging as one of the key robotics tasks needed in extreme environments. Several researchers have investigated how to add AI components into shared controll…
Let's Push Things Forward: A Survey on Robot Pushing
Jochen Stüber, Claudio Zito, Rustam Stolkin
As robot make their way out of factories into human environments, outer space, and beyond, they require the skill to manipulate their environment in multifarious, unforeseeable cir…
Hypothesis-based Belief Planning for Dexterous Grasping
Claudio Zito, Valerio Ortenzi, Maxime Adjigble +3
Belief space planning is a viable alternative to formalise partially observable control problems and, in the recent years, its application to robot manipulation problems has grown.…