Related papers: Reconfigurable Manipulator Simulation for Robotics…
This paper describes MAIA, a Multimodal Automated Interpretability Agent. MAIA is a system that uses neural models to automate neural model understanding tasks like feature interpretation and failure mode discovery. It equips a pre-trained…
Robot manipulators have become a significant tool for production industries due to their advantages in high speed, accuracy, safety, and repeatability. This paper simulates and optimizes the design of a 3-DOF articulated robotic manipulator…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…
This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can…
Wheelchairs and robotic arms enhance independent living by assisting individuals with upper-body and mobility limitations in their activities of daily living (ADLs). Although recent advancements in assistive robotics have focused on…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…
This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemannian metric based on the remaining…
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the…
The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of…
When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…
Inertial Measurement Unit (IMU)-based Human Activity Recognition (HAR) aims to interpret and classify user behaviors from temporal motion signals. Recently, deep learning frameworks have advanced this task by learning and extracting…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
Egocentric, multi-modal data as available on future augmented reality (AR) devices provides unique challenges and opportunities for machine perception. These future devices will need to be all-day wearable in a socially acceptable…
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…