Related papers: Interactive Robot-Environment Self-Calibration via…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…
Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems. Thus long-term operation of these systems cannot fully rely on factory calibration.…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…