Related papers: Monolithic Six-DOF Parallel Positioning System for…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e. the pose estimation of tridimensional objects given tactile measurements. This estimation problem is fundamental for the operation of autonomous robots that are often…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object…
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack…
Near-field acoustic levitation (NFAL) enables nanometer-scale positioning resolution and bandwidth exceeding several hundred hertz specifically along the vertical (Z) direction, owing to its high acoustic stiffness and squeeze film damping.…
This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform…
In medical and industrial domains, providing guidance for assembly processes can be critical to ensure efficiency and safety. Errors in assembly can lead to significant consequences such as extended surgery times and prolonged manufacturing…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
Tracking passive magnetic markers plays a vital role in advancing healthcare and robotics, offering the potential to significantly improve the precision and efficiency of systems. This technology is key to developing smarter, more…
Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing…
We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when…
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visual-inertial…
In this paper, a method to mimic a human face and eyes is proposed which can be regarded as a combination of computer vision techniques and neural network concepts. From a mechanical standpoint, a 3-DOF spherical parallel robot is used…
We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…
In the rapidly evolving field of optical engineering, precise alignment of multi-lens imaging systems is critical yet challenging, as even minor misalignments can significantly degrade performance. Traditional alignment methods rely on…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full…
Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body solvers struggle with the high nonlinearity induced by…
We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…