Related papers: Model-Based Sensor Diagnostics for Robotic Manipul…
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
Compliance is a critical parameter for describing objects in engineering, agriculture, and biomedical applications. Traditional compliance detection methods are limited by their lack of portability and scalability, rely on specialized,…
Models of complex systems often consist of multiple interconnected subsystem/component models that are developed by multi-disciplinary teams of engineers or scientists. To ensure that such interconnected models can be applied for the…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
The monitoring of rotating machinery is an essential task in today's production processes. Currently, several machine learning and deep learning-based modules have achieved excellent results in fault detection and diagnosis. Nevertheless,…
Ensuring safety is paramount in the field of collaborative robotics to mitigate the risks of human injury and environmental damage. Apart from collision avoidance, it is crucial for robots to rapidly detect and respond to unexpected…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
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…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Accurate EMG-driven musculoskeletal (MSK) modeling is critical for biomechanics, rehabilitation, and assistive technology. However, most models calibrate parameters under a single load, ignoring the fact that tasks with similar kinematics…