Related papers: Real-time Digital Double Framework to Predict Coll…
We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…
Digital Twins (DTs) are computational models that simulate the states and temporal dynamics of real-world systems, playing a crucial role in prediction, understanding, and decision-making across diverse domains. However, existing approaches…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and…
As collaborative robot (Cobot) adoption in many sectors grows, so does the interest in integrating digital twins in human-robot collaboration (HRC). Virtual representations of physical systems (PT) and assets, known as digital twins, can…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
While measures, such as traffic calming and advance driver assistance systems, can improve safety for Vulnerable Road Users (VRUs), their effectiveness ultimately relies on the responsible behavior of drivers and pedestrians who must adhere…
Emerging safety-critical Vehicle-to-Everything (V2X) applications require networks to proactively adapt to rapid environmental changes rather than merely reacting to them. While Network Digital Twins (NDTs) offer a pathway to such…
This paper presents the development of a calibrated digital twin of a wheel loader. A calibrated digital twin integrates a construction vehicle with a high-fidelity digital model allowing for automated diagnostics and optimization of…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…
Digital twins enable real-time simulation and prediction in engineering systems. This paper presents a novel framework for predictive digital twins of a headlamp heatsink, integrating physics-based reduced-order models (ROMs) from…
Effective real-time monitoring is a foundation of digital twin technology, crucial for detecting material degradation and maintaining the structural integrity of nuclear systems to ensure both safety and operational efficiency. Traditional…
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
Monitoring athlete internal workload exposure, including prevention of catastrophic non-contact knee injuries, relies on the existence of a custom early-warning detection system. This system must be able to estimate accurate, reliable, and…
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service…
Digital Twin, as an emerging technology related to Cyber-Physical Systems (CPS) and Internet of Things (IoT), has attracted increasing attentions during the past decade. Conceptually, a Digital Twin is a digital replica of a physical entity…