Related papers: Simultaneous Contact and Aerodynamic Force Estimat…
The generation of robot motions in the real world is difficult by using conventional controllers alone and requires highly intelligent processing. In this regard, learning-based motion generations are currently being investigated. However,…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Contact-rich tasks present significant challenges for robotic manipulation policies due to the complex dynamics of contact and the need for precise control. Vision-based policies often struggle with the skill required for such tasks, as…
The widespread utilisation of grid-integrated wind electricity necessitates accurate and reliable wind speed forecasting to ensure stable grid and quality power. Machine learning algorithm based wind speed forecasting models are getting…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
To enable autonomous wind estimation for energy-efficient flight in small unmanned aerial vehicles (UAVs), this study proposes a method that estimates flight states and wind using only the low-cost essential onboard sensors required for…
Multiagent reinforcement learning, as a prominent intelligent paradigm, enables collaborative decision-making within complex systems. However, existing approaches often rely on explicit action exchange between agents to evaluate action…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
The wind energy sector is growing rapidly with the installation of wind turbines with long, slender blades in a diverse range of locations. To enhance the operational performance under specific wind conditions and to validate the…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
Despite substantial growth in wind energy technology in recent decades, aerodynamic modeling of wind turbines relies on momentum models derived in the late 19th and early 20th centuries, which are well-known to break down under flow regimes…
Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental…