Related papers: Estimating Dynamic Soft Continuum Robot States Fro…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
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…
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…
The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…
This paper presents new methods for set-valued state estimation and active fault diagnosis of linear descriptor systems. The algorithms are based on constrained zonotopes, a generalization of zonotopes capable of describing strongly…
Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDARs and cameras, may become unreliable. In this paper, we…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint-level measurements contains rich information that can be…
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…