Related papers: Enhancing Robotic Precision in Construction: A Mod…
Simplifying complex 3D meshes is a crucial step in robotics applications to enable efficient motion planning and physics simulation. Common methods, such as approximate convex decomposition, represent a mesh as a collection of simple parts,…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…
There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…
Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…
Many computer vision and image processing applications rely on local features. It is well-known that motion blur decreases the performance of traditional feature detectors and descriptors. We propose an inertial-based deblurring method for…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. Therefore, this study presents a framework…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…
We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…