Related papers: Momentum Model-based Minimal Parameter Identificat…
A fundamental requirement for full autonomy in mobile robots is accurate navigation even in situations where satellite navigation or cameras are unavailable. In such practical situations, relying only on inertial sensors will result in…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
Accurate gravity field models are essential for safe proximity operations around small bodies. State-of-the-art techniques use spherical harmonics or high-fidelity polyhedron shape models. Unfortunately, these techniques can become…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the…
This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…
Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in which the uncertainty is modeled at the macro (system)…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
A rotorcraft-based unmanned aerial vehicle exhibits more complex properties compared to its full-size counterparts due to its increased sensitivity to control inputs and disturbances and higher bandwidth of its dynamics. As an aerial…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
This contribution presents a parameter identification methodology for the accurate and fast estimation of model parameters in a pseudo-two-dimensional (P2D) battery model. The methodology consists of three key elements. First, the data for…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
In this paper, we develop a unified approach to study partial identification of a finite-dimensional parameter defined by a general moment model with incomplete data. We establish a novel characterization of the identified set for the true…
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…