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Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be…
Autonomous navigation of steel bridge inspection robots is essential for proper maintenance. The majority of existing robotic solutions for bridge inspection require human intervention to assist in the control and navigation. In this paper,…
Human gesture recognition has assumed a capital role in industrial applications, such as Human-Machine Interaction. We propose an approach for segmentation and classification of dynamic gestures based on a set of handcrafted features, which…
This paper presents a Virtual Inertia Skyhook (VISKY) controller for magnetorheological (MR) dampers in semi-active suspensions. The proposed law is derived from a continuous sky-ground damping baseline augmented with acceleration feedback…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
We present a method for computing invariant tori of dimension greater than one. The method uses a single short trajectory of a dynamical system without any continuation or initial guesses. No preferred coordinate system is required, meaning…
Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…
This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…
Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredictable nature of unstructured terrain. Traditional kinodynamic models often struggle to generalize across diverse geometric and…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…
Physical human-robot interaction (pHRI) remains a key challenge for achieving intuitive and safe interaction with robots. Current advancements often rely on external tactile sensors as interface, which increase the complexity of robotic…