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In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…

Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. Robotics systems that can work "out-of-the-box" without excessive amount of installation and calibration from the…

Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…

We introduce a technique for the suppression of state-dependent and correlated measurement errors, which are commonly observed on modern superconducting quantum devices. Our method leverages previous results, establishing that correlated…

Probabilistic models must be well calibrated to support reliable decision-making. While calibration in single-output regression is well studied, defining and achieving multivariate calibration in multi-output regression remains considerably…

We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…

Postural sway assessment is important for detecting balance problems and identifying people at risk of falls. Force plates (FP) are considered the gold standard postural sway assessment method in laboratory conditions, but their lack of…

The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…

This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…

Billions of people use chopsticks, a simple yet versatile tool, for fine manipulation of everyday objects. The small, curved, and slippery tips of chopsticks pose a challenge for picking up small objects, making them a suitably complex test…

This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera. The main steps include camera intrinsic and extrinsic calibration, hand-eye calibration, initial…

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…

This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…

The manual design of soft robots and their controllers is notoriously challenging, but it could be augmented---or, in some cases, entirely replaced---by automated design tools. Machine learning algorithms can automatically propose, test,…

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…

This paper discusses an innovative adaptive heterogeneous fusion algorithm based on estimation of the mean square error of all variables used in real time processing. The algorithm is designed for a fusion between derivative and absolute…

Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…

Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…

We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…

For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…