Related papers: Robot kinematic structure classification from time…
Skeleton sequences are lightweight and compact, and thus are ideal candidates for action recognition on edge devices. Recent skeleton-based action recognition methods extract features from 3D joint coordinates as spatial-temporal cues,…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification techniques are applied only a subset of…
We present a new model for time series classification, called the hidden-unit logistic model, that uses binary stochastic hidden units to model latent structure in the data. The hidden units are connected in a chain structure that models…
Vertebrae localization, segmentation and identification in CT images is key to numerous clinical applications. While deep learning strategies have brought to this field significant improvements over recent years, transitional and…
Soft robots are challenging to model due in large part to the nonlinear properties of soft materials. Fortunately, this softness makes it possible to safely observe their behavior under random control inputs, making them amenable to…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
Human recognition of the actions of other humans is very efficient and is based on patterns of movements. Our theoretical starting point is that the dynamics of the joint movements is important to action categorization. On the basis of this…
This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…
Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…
Technological developments call for increasing perception and action capabilities of robots. Among other skills, vision systems that can adapt to any possible change in the working conditions are needed. Since these conditions are…
The general ability to analyze and classify the 3D kinematics of the human form is an essential step in the development of socially adept humanoid robots. A variety of different types of signals can be used by machines to represent and…
Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…
We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…