Related papers: Auto-calibrated Wearable System for Load Vertical …
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
Location information will play a very important role in emerging wireless networks such as Intelligent Transportation Systems, 5G, and the Internet of Things. However, wrong location information can result in poor network outcomes. It is…
This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…
Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, the camera communication delay will lead to a temporal…
We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution, Cerberus, for legged robots that estimates position precisely on various terrains in real time using a set of standard sensors, including stereo…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Visible light positioning(VLP) has gained prominence as a highly accurate indoor positioning technique. Few techniques consider the practical limitations of implementing VLP systems for indoor positioning. These limitations range from…
Forklifts are essential for transporting goods in industrial environments. These machines face wear and tear during field operations, along with rough terrain, tight spaces and complex handling scenarios. This increases the likelihood of…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission…
The use of a wide range of computer vision solutions, and more recently high-end Inertial Measurement Units (IMU) have become increasingly popular for assessing human physical activity in clinical and research settings. Nevertheless, to…
An end-to-end hardware-software pipeline is introduced to automatize ergonomics assessment in industrial workplaces. The proposed modular solution can interoperate with commercial systems throughout the ergonomics assessment phases involved…
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating…