Related papers: Accelerometer Based Method for Tire Load and Slip …

Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…

While various sensors have been deployed to monitor vehicular flows, sensing pedestrian movement is still nascent. Yet walking is a significant mode of travel in many cities, especially those in Europe, Africa, and Asia. Understanding…

This paper discusses the image processing and computer vision algorithms for real time detection and tracking of a sample wheel of a vehicle. During the manual tyre changing process, spinal and other muscular injuries are common and even…

Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…

This work presents a methodology to estimate tire parameters and their uncertainty using a Bayesian optimization approach. The literature mainly considers the estimation of tire parameters but lacks an evaluation of the parameter…

In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…

Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety and handling performances in unknown driving scenarios. To this end, the present paper proposes an innovative observer that combines a…

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…

A wide variety of sensor technologies are recently being adopted for traffic monitoring applications. Since most of these technologies rely on wired infrastructure, the installation and maintenance costs limit the deployment of the traffic…

Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…

Life expectancy keeps growing and, among elderly people, accidental falls occur frequently. A system able to promptly detect falls would help in reducing the injuries that a fall could cause. Such a system should meet the needs of the…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…

Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…

Knowledge about the maximum tire-road friction potential is an important factor to ensure the driving stability and traffic safety of the vehicle. Many authors proposed systems that either measure friction related parameters or estimate the…

Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

Stroke is known as a major global health problem, and for stroke survivors it is key to monitor the recovery levels. However, traditional stroke rehabilitation assessment methods (such as the popular clinical assessment) can be subjective…