Related papers: On-Orbit Operations Simulator for Workload Measure…
A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. However, the spatial and temporal misalignment between foot-end…
Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…
We develop a 3D aerothermodynamic simulator for the Orion reentry capsule at hypersonic speeds, a timely case study given its role in upcoming lunar missions. The large computational meshes required for these scenarios make traditional…
Underflight maneuvers provide a unique opportunity to harmonize calibration of on-orbit sensors. Due to their similar sensor technologies, their near-identical transmission profiles, orbital properties and platform operations, the…
Due to the implementation bottleneck of training data collection in realistic wireless communications systems, supervised learning-based timing synchronization (TS) is challenged by the incompleteness of training data. To tackle this…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
As the number of spacecraft on orbit continues to grow, it is challenging for human operators to constantly monitor and plan for all missions. Autonomous control methods such as reinforcement learning (RL) have the power to solve complex…
Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…
Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control,…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its utility by reducing operator dependence and improving…
Developing algorithms for extra-terrestrial robotic exploration has always been challenging. Along with the complexity associated with these environments, one of the main issues remains the evaluation of said algorithms. With the regained…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…