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State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many…
We present the concept of a new type of silicon tracking sensor called Enhanced Lateral Drift (ELAD) sensor. In ELAD sensors the spatial resolution of the impact position of ionising particles is improved by a dedicated charge sharing…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
The contact line (CL) is where solid, liquid and vapor phases meet, and Young's equation describes the macroscopic force balance of the interfacial tensions between these three phases. These interfacial tensions are related to the nanoscale…
Teaching robots how to apply forces according to our preferences is still an open challenge that has to be tackled from multiple engineering perspectives. This paper studies how to learn variable impedance policies where both the Cartesian…
Explosive Ordnance Disposal (EOD) suits are widely used to protect human operators to execute emergency tasks such as bomb disposal and neutralization. Current suit designs still need to be improved in terms of wearer comfort, which can be…
Manipulation of deformable Linear objects (DLOs), including iron wire, rubber, silk, and nylon rope, is ubiquitous in daily life. These objects exhibit diverse physical properties, such as Young$'$s modulus and bending stiffness.Such…
We propose an efficient numerical method for the simulation of multi-phase flows with moving contact lines in three dimensions. The mathematical model consists of the incompressible Navier-Stokes equations for the two immiscible fluids with…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
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…
Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an…
A novel method is presented for measuring impulsive forces generated by devices which are fed with medium power microwave signals. The forces are measured with a torsion balance or weighing scale, as usual, but the microwave signal is…
The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite…
We demonstrate that due to strong modal interactions through cross-gain saturation, the onset of a new lasing mode can switch off an existing mode via a negative power slope. In this process of interaction-induced mode switching (IMS) the…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex…