Related papers: A novel step-by-step procedure for the kinematic c…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
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…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
Accurate calibration of a Stewart platform is important for their precise and efficient operation. However, the calibration of these platforms using forward kinematics is a challenge for researchers because forward kinematics normally…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
Calibration error is commonly adopted for evaluating the quality of uncertainty estimators in deep neural networks. In this paper, we argue that such a metric is highly beneficial for training predictive models, even when we do not…
Within the context of intelligent manufacturing, industrial robots have a pivotal function. Nonetheless, extended operational periods cause a decline in their absolute positioning accuracy, preventing them from meeting high precision. To…
This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
As positioning solutions integrate multiple components to improve accuracy, the number of parameters that require calibration has increased. This paper studies a calibration-free positioning technique using Wi-Fi ranging and pedestrian dead…
Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…
Hand-eye calibration aims to estimate the transformation between a camera and a robot. Traditional methods rely on fiducial markers, which require considerable manual effort and precise setup. Recent advances in deep learning have…