Related papers: Calibration of quasi-isotropic parallel kinematic …
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
Inverse problem for the identification of the parameters for large-scale systems of nonlinear ordinary differential equations (ODEs) arising in systems biology is analyzed. In a recent paper in \textit{Mathematical Biosciences, 305(2018),…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
We propose an extension of the anisotropic interaction model which allows for collision avoidance in pairwise interactions by a rotation of forces \cite{arXiv:1912.04234} by including the agents' body size. The influence of the body size on…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped…
Robotic manipulation in space is essential for emerging applications such as debris removal and in-space servicing, assembly, and manufacturing (ISAM). A key requirement for these tasks is the ability to perform precise, contact-rich…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…
This paper presents an algorithm that makes novel use of distance measurements alongside a constrained Kalman filter to accurately estimate pelvis, thigh, and shank kinematics for both legs during walking and other body movements using only…
Beam position monitor (BPM) can easily reinforce the handling of beam orbits and measure the absolute beam position [1]. Its data can be used to optimize and correct beam in both first turn and closed orbit mode. In order to set the…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…