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This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
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…
Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Practical quantum state tomography is usually performed by carrying out repeated measurements on many copies of a given state. The accuracy of the reconstruction depends strongly on the dimensionality of the system and the number of copies…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Surrogate models provide compact relations between user-defined input parameters and output quantities of interest, enabling the efficient evaluation of complex parametric systems in many-query settings. Such capabilities are essential in a…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to enable the robot to both achieve specific, desired footholds…
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
In the field of swarm robotics, the design and implementation of spatial density control laws has received much attention, with less emphasis being placed on performance evaluation. This work fills that gap by introducing an error metric…