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Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
This paper proposes a novel method for estimating the set of plausible poses of a rigid object from a set of points with volumetric information, such as whether each point is in free space or on the surface of the object. In particular, we…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
As positioning solutions integrate multiple components to improve accuracy, the number of parameters that require calibration has increased. This paper studies a calibration-free positioning technique using Wi-Fi ranging and pedestrian dead…
Sensor calibration is one of the fundamental challenges in large-scale IoT networks. In this article, we address the challenge of reference-free calibration of a densely deployed sensor network. Conventionally, to calibrate an in-place…
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…
We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…
Damping of structures and systems is often dominated by frictional dissipation in connections, the prediction of which remains a longstanding scientific challenge. Previous studies have shown that the actual topography of contact interfaces…
The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
In the present work, a rate-dependent cohesive zone model for the fracture of polymeric interfaces is presented. Inverse calibration of parameters for such complex models through trial and error is computationally tedious due to the large…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
A robust numerical methodology to predict equilibrium interfaces over arbitrary solid surfaces is developed. The kernel of the proposed method is the distance regularized level set equations (DRLSE) with techniques to incorporate the…
In this paper, we explore whether a robot can learn to hang arbitrary objects onto a diverse set of supporting items such as racks or hooks. Endowing robots with such an ability has applications in many domains such as domestic services,…
Many manipulation tasks require the robot to rearrange objects relative to one another. Such tasks can be described as a sequence of relative poses between parts of a set of rigid bodies. In this work, we propose MATCH POLICY, a simple but…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…