Related papers: Robot self-calibration using multiple kinematic ch…
Accurate intrinsic and extrinsic camera calibration can be an important prerequisite for robotic applications that rely on vision as input. While there is ongoing research on enabling camera calibration using natural images, many systems in…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model is regrettably a luxury, as available calibration tools are…
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…
Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
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…
With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…
Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must…
Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…