Related papers: Sensor Observability Index: Evaluating Sensor Alig…
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
We present SLOT-V, a novel supervised learning framework that learns observer models (human preferences) from robot motion trajectories in a legibility context. Legibility measures how easily a (human) observer can infer the robot's goal…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
Detection of surrounding objects and their motion prediction are critical components of a self-driving system. Recently proposed models that jointly address these tasks rely on a number of sensors to achieve state-of-the-art performance.…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…
A dynamical network, a graph whose nodes are dynamical systems, is usually characterized by a large dimensional space which is not always accesible due to the impossibility of measuring all the variables spanning the state space. Therefore,…
Network partitioning has gained recent attention as a pathway to enable decentralized operation and control in large-scale systems. This paper addresses the interplay between partitioning, observability, and sensor placement (SP) in dynamic…