Related papers: Physically-Consistent Parameter Identification of …
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…
A special aspect of parameter identification in finite-strain elasto-plasticity is considered. Namely, we analyze the impact of the measurement errors on the resulting set of material parameters. In order to define the sensitivity of…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
Remote monitoring of motor functions is a powerful approach for health assessment, especially among the elderly population or among subjects affected by pathologies that negatively impact their walking capabilities. This is further…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision…
This paper is concerned with identifying the instantaneous modal parameters of forced oscillatory systems with response-dependent generalized inertia (mass, inductance, or equivalent) based on their measured dynamics. An identification…
In this paper, we explore an approach to actively plan and excite contact modes in differentiable simulators as a means to tighten the sim-to-real gap. We propose an optimal experimental design approach derived from information-theoretic…
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Robots engaged in complex manipulation tasks require robust material property recognition to ensure adaptability and precision. Traditionally, visual data has been the primary source for object perception; however, it often proves…