Related papers: A Novel Method to Estimate Tilt Angle of a Body us…
Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2)…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
Tilt-horizontal coupling in inertial sensors limits the performance of active isolation systems such as those used in gravitational wave detectors. Inertial rotation sensors can be used to subtract the tilt component from the signal…
A pan-tilt camera system has been adopted by a variety of fields since it can cover a wide range of region compared to a single fixated camera setup. Yet many studies rely on factory-assembled and calibrated platforms and assume an ideal…
This paper presents the validation of a computational tool that serves to obtain continuous measurements of moving objects. The software uses techniques of computer vision, pattern recognition and optical flow, to enable tracking of objects…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
We consider the problem of estimating the possibly non-convex cost of an agent by observing its interactions with a nonlinear, non-stationary and stochastic environment. For this inverse problem, we give a result that allows to estimate the…
Reinforcement learning is a promising approach to learning robotics controllers. It has recently been shown that algorithms based on finite-difference estimates of the policy gradient are competitive with algorithms based on the policy…
One of the best ways to measure low-frequency eigenmode oscillations of the Earth is to monitor a simple pendulum responding to tilt. A theoretical basis for the method is given, by investigating a particular, well-known standing wave-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…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone in on anatomical targets. In order to accurately steer them,…