Related papers: Proprioceptive Robot Collision Detection through G…

Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel…

The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…

Traction adaptive motion planning and control has potential to improve an an automated vehicle's ability to avoid accident in a critical situation. However, such functionality require an accurate friction estimate for the road ahead of the…

We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represented with non-Gaussian forms. Our approach can handle noisy…

Autonomous agents must be able to safely interact with other vehicles to integrate into urban environments. The safety of these agents is dependent on their ability to predict collisions with other vehicles' future trajectories for…

Many commodity sensors that measure the robot and dynamic obstacle's state have non-Gaussian noise characteristics. Yet, many current approaches treat the underlying-uncertainty in motion and perception as Gaussian, primarily to ensure…

Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…

Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint-level measurements contains rich information that can be…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…

Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…

Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…

Ensuring safety and adapting to the user's behavior are of paramount importance in physical human-robot interaction. Thus, incorporating elastic actuators in the robot's mechanical design has become popular, since it offers intrinsic…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

One of the key benefits of model predictive control is the capability of controlling a system proactively in the sense of taking the future system evolution into account. However, often external disturbances or references are not a priori…