Related papers: Understanding URDF: A Dataset and Analysis
With the increasing complexity of robot systems, it is necessary to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required. One of the most commonly used formats for modeling robots is the…
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream applications such as simulation, planning, and…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such loops, many modern simulators rely on dynamics libraries that…
Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including…
Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
In multimodal tasks, we find that the importance of text and image modal information is different for different input cases, and for this motivation, we propose a high-performance and highly general Dual-Router Dynamic Framework (DRDF),…
Robot design is a complex and time-consuming process that requires specialized expertise. Gaining a deeper understanding of robot design data can enable various applications, including automated design generation, retrieving example designs…
The Xacro XML macro language extends the Universal Robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, members of the robotics…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
Anatomical models of a medical robot's environment can significantly help guide design and development of a new robotic system. These models can be used for benchmarking motion planning algorithms, evaluating controllers, optimizing…
Imitation learning from large multi-task demonstration datasets has emerged as a promising path for building generally-capable robots. As a result, 1000s of hours have been spent on building such large-scale datasets around the globe.…
In this paper, we propose RFUAV as a new benchmark dataset for radio-frequency based (RF-based) unmanned aerial vehicle (UAV) identification and address the following challenges: Firstly, many existing datasets feature a restricted variety…
Most of legacy systems use nowadays were modeled and documented using structured approach. Expansion of these systems in terms of functionality and maintainability requires shift towards object-oriented documentation and design, which has…
Unmanned Aerial Vehicles (UAVs), have greatly revolutionized the process of gathering and analyzing data in diverse research domains, providing unmatched adaptability and effectiveness. This paper presents a thorough examination of Unmanned…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
The development of computer vision algorithms for Unmanned Aerial Vehicles (UAVs) imagery heavily relies on the availability of annotated high-resolution aerial data. However, the scarcity of large-scale real datasets with pixel-level…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…