Related papers: An experiment to address conceptual difficulties i…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
This study investigates the nonlinear stability and dynamics of gravity-driven viscous films on a vertical rotating cylinder, considering both outer and inner surface flows with slip conditions at the cylinder wall. We develop an asymptotic…
A new experimental technique for creating and imaging collisions of micron-sized droplets settling under gravity is presented. A pair of glycerol droplets is suspended in air by means of two optical traps. The droplet relative velocities…
Currently, studying the vehicle-human interactive behavior in the emergency needs a large amount of datasets in the actual emergent situations that are almost unavailable. Existing public data sources on autonomous vehicles (AVs) mainly…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
Due to geometrical errors and possible misalignment of the sensors, wheel speed measurements provided by incremental encoders in road vehicles are usually affected by significant periodic noises. This paper presents an online wheel speed…
We study the 6-dimensional dynamics -- position and orientation -- of a large sphere advected by a turbulent flow. The movement of the sphere is recorded with 2 high-speed cameras. Its orientation is tracked using a novel, efficient…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Motion models play a great role in visual tracking applications for predicting the possible locations of objects in the next frame. Unlike target tracking in radar or aerospace domain which considers only points, object tracking in computer…
Nonsmooth phenomena, such as abrupt changes, impacts, and switching behaviors, frequently arise in real-world systems and present significant challenges for traditional optimal control methods, which typically assume smoothness and…
When we humans look at a video of human-object interaction, we can not only infer what is happening but we can even extract actionable information and imitate those interactions. On the other hand, current recognition or geometric…
The mobility of surface electrons localized over helium films underlying solid substrates has been evaluated by solving the Boltzmann equation in the time relaxation approximation and the force balance equation in which an effective…
A priority of physics instruction is to help students make the connection between the formulae they think they are required to memorize and the real world in which they interact every day. If you ask students to describe a situation in real…
We present an experimental study of the motion of a circular disk spun onto a table. With the help of a high speed video system, the temporal evolutions of (i) the inclination angle $\alpha$, (ii) the angular velocity $\omega$ and (iii) the…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
We introduce a method to generate videos of dynamic virtual objects plausibly interacting via collisions with a still image's environment. Given a starting trajectory, physically simulated with the estimated geometry of a single, static…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…