Related papers: Modular Pipe Climber III with Three-Output Open Di…
The fusion of camera- and LiDAR-based detections offers a promising solution to mitigate tracking failures in 3D multi-object tracking (MOT). However, existing methods predominantly exploit camera detections to correct tracking failures…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
Object tracking is a key challenge of computer vision with various applications that all require different architectures. Most tracking systems have limitations such as constraining all movement to a 2D plane and they often track only one…
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Deformable mirrors with very high order correction generally have smaller dynamic range of motion than what is required to correct seeing over large aperture telescopes. As a result, systems will need to have an architecture that employs…
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-O-Cam was reported elsewhere.…
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
We demonstrate a simple, flexible and cost-effective system to automatize most of the kinematic mounts available nowadays on the market. It combines 3D printed components, an Arduino board, stepper motors, and simple electronics. The system…
Many natural and manmade dynamical systems that are modeled as large nonlinear multi-oscillator systems like power systems are hard to analyze. For such a system, we propose a nonlinear modal decoupling (NMD) approach inversely constructing…
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…
In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
Out-of-distribution (OOD) detection is essential to prevent anomalous inputs from causing a model to fail during deployment. While improved OOD detection methods have emerged, they often rely on the final layer outputs and require a full…