Related papers: Visual-based Kinematics and Pose Estimation for Sk…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…
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…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
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…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visual Simultaneous…
Vision-based lane keeping is a topic of significant interest in the robotics and autonomous ground vehicles communities in various on-road and off-road applications. The skid-steered vehicle architecture has served as a useful vehicle…