Related papers: Hybrid Contact Preintegration for Visual-Inertial-…
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor…
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…
In this work, we demonstrate the importance of zero velocity information for global navigation satellite system (GNSS) based navigation. The effectiveness of using the zero velocity information with zero velocity update (ZUPT) for inertial…
Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
The development of dual-functional radar-communication (DFRC) systems, where vehicle localization and tracking can be combined with vehicular communication, will lead to more efficient future vehicular networks. In this paper, we develop a…
One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, dynamics are…
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
Many complex natural and cultural phenomena are well modelled by systems of simple interactions between particles. A number of architectures have been developed to articulate this kind of structure, both implicitly and explicitly. We…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Industrial robots are increasingly deployed in contact-rich construction and manufacturing tasks that involve uncertainty and long-horizon execution. While learning-based visuomotor policies offer a promising alternative to open-loop…
Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the question of \textit{how to perform fusion among different…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…