Related papers: Grasping force estimation using state-space model …
Surface electromyogram (sEMG), as a bioelectrical signal reflecting the activity of human muscles, has a wide range of applications in the control of prosthetics, human-computer interaction and so on. However, the existing recognition…
This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thrusters for control, and a single gyroscope per link,…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…
Accurate estimation of the dynamic states of a synchronous machine (e.g., rotor s angle and speed) is essential in monitoring and controlling transient stability of a power system. It is well known that the covariance matrixes of process…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter…
Reliable estimation of contact forces is crucial for ensuring safe and precise interaction of robots with unstructured environments. However, accurate sensorless force estimation remains challenging due to inherent modeling errors and…
The extraction of weak signals plays a crucial role in quantum precision measurement, where the estimation results are often limited by low signal-to-noise ratios. Here, we demonstrate a parameter-estimation framework based on the adaptive…
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…
Surface electromyography (sEMG) is a noninvasive technique widely used to control myoelectric prostheses and other human-machine interfaces. However, the high cost of commercial systems limits accessibility in academic and research…
Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a new Center-of-Mass (CoM)-based grasp pose adaptation method,…
Kalman filtering has been traditionally applied in three application areas of estimation, state estimation, parameter estimation (a.k.a. model updating), and dual estimation. However, Kalman filter is often not sufficient when experimenting…
State estimation in power distribution systems is a key component for increased reliability and optimal system performance. Well understood in transmission systems, state estimation is now an area of active research in distribution…
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
We extend the linear mixed-effects state model to accommodate the correlated individuals and investigate its parameter and state estimation based on disturbance smoothing in this paper. For parameter estimation, EM and score based…
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…
Many approaches to grasp synthesis optimize analytic quality metrics that measure grasp robustness based on finger placements and local surface geometry. However, generating feasible dexterous grasps by optimizing these metrics is slow,…
Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent…