Related papers: Efficient Force Estimation for Continuum Robot
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and generalizes two ideas: a bed of springs (an "elastic…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
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…
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local…
Purpose: Robotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways…
Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…
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…
Human skin can accurately sense the self-decoupled normal and shear forces when in contact with objects of different sizes. Although there exist many soft and conformable tactile sensors on robotic applications able to decouple the normal…
In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and their corresponding friction cone. To this end, we set up a…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pipeline based on an Error-State EKF (ESEKF) that relies…
Tactile sensors have been used for force estimation in the past, especially Vision-Based Tactile Sensors (VBTS) have recently become a new trend due to their high spatial resolution and low cost. In this work, we have designed and…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…
Although strain-based models have been widely adopted in robotics, no comparison beyond the uniform bending test is commonly recognized to assess their performance. In addition, the increasing effort in prototyping continuum robots…