Related papers: Tensegrity Robot Proprioceptive State Estimation w…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged…
Reliable odometry for legged robots without cameras or LiDAR remains challenging due to IMU drift and noisy joint velocity sensing. This paper presents a purely proprioceptive state estimator that uses only IMU and motor measurements to…
In the context of control of smart structures, we present an approach for state estimation of adaptive buildings with active load-bearing elements. For obtaining information on structural deformation, a system composed of a digital camera…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
Purpose: Six million people use crutches as mobile aids in the US. Rigid designs with no axial mobility limit sensory feedback and lead to secondary injury on the upper joints. Spring-loaded designs offer compliance but may compromise…
Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be…
In this paper, we consider tensegrity hopper - a novel tensegrity-based robot, capable of moving by hopping. The paper focuses on the design of the stabilizing control policies, which are obtained with Augmented Random Search method. In…
This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks. Key features include the use of an off-the-shelf physics engine…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
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…
Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…