Related papers: Sensor Observability Analysis for Maximizing Task-…

In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distributed directional or axial-based sensors to observe specific…

Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

This paper studies the local observability of synchronous machines using a unified approach. Recently, motion sensorless control of electrical drives has gained high interest. The main challenge for such a technology is the poor performance…

We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…

In this paper, new characterizations for functional observability, functional detectability, and structural functional observability (SFO) are developed, and based on them, the related optimal sensor placement problems are investigated. A…

Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…

Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…

In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA),…

Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…

Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an…

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 presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…

Precise perception of articulated objects is vital for empowering service robots. Recent studies mainly focus on point cloud, a single-modal approach, often neglecting vital texture and lighting details and assuming ideal conditions like…

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…

Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…

In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…