Related papers: A three-dimensional force estimation method for th…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
Existing deep models predict 2D and 3D kinematic poses from video that are approximately accurate, but contain visible errors that violate physical constraints, such as feet penetrating the ground and bodies leaning at extreme angles. In…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft robots in surgical applications is reconstructing their…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, which is challenging among modern robots that aim for…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
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,…
We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a…
3D human motion capture from monocular RGB images respecting interactions of a subject with complex and possibly deformable environments is a very challenging, ill-posed and under-explored problem. Existing methods address it only weakly…
Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…
Monocular estimation of three dimensional human self-contact is fundamental for detailed scene analysis including body language understanding and behaviour modeling. Existing 3d reconstruction methods do not focus on body regions in…
This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…
We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…