Related papers: FBG-Based Variable-Length Estimation for Shape Sen…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape…
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape…
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…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
Recently, numerous methods have achieved impressive performance in remote sensing object detection, relying on convolution or transformer architectures. Such detectors typically have a feature backbone to extract useful features from raw…
Automatic assembly lines have increasingly replaced human labor in various tasks; however, the automation of Flexible Flat Cable (FFC) insertion remains unrealized due to its high requirement for effective feedback and dynamic operation,…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
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…
Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…
Polarization based sensing with tilted fiber Bragg grating (TFBG) sensors is analysed theoretically by two alternative approaches. The first method is based on tracking the grating transmission for two orthogonal states of linear polarized…
Fault detection at rotating machinery with the help of vibration sensors offers the possibility to detect damage to machines at an early stage and to prevent production downtimes by taking appropriate measures. The analysis of the vibration…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
Locomotion robots with active or passive compliance can show robustness to uncertain scenarios, which can be promising for agricultural, research and environmental industries. However, state estimation for these robots is challenging due to…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…