Related papers: Dynamic Parameter Identification of a Curtain Wall…
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile…
Videos provide a rich source of information, but it is generally hard to extract dynamical parameters of interest. Inferring those parameters from a video stream would be beneficial for physical reasoning. Robots performing tasks in dynamic…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
We study the initial beam acquisition problem in millimeter wave (mm-wave) networks from the perspective of best arm identification in multi-armed bandits (MABs). For the stationary environment, we propose a novel algorithm called…
This paper presents a data-driven algorithm for simultaneous system identification and parameter estimation in control-affine nonlinear systems. Parameter estimation is achieved by training a data-driven predictive model using state-action…
Through-the-wall radar (TWR) human activity recognition can be achieved by fusing micro-Doppler signature extraction and intelligent decision-making algorithms. However, limited by the insufficient priori of tester in practical indoor…
Robotic manipulation in human environments is a challenging problem for researchers and industry alike. In particular, opening doors/drawers can be challenging for robots, as the size, shape, actuation and required force is variable.…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
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…
Dynamic hand gestures play a crucial role in conveying nonverbal information for Human-Robot Interaction (HRI), eliminating the need for complex interfaces. Current models for dynamic gesture recognition suffer from limitations in effective…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…
The expected decrease in system inertia and frequency stability motivates the development and maintenance of dynamic system models by Transmission System Operators. However, some dynamic model parameters can be unavailable due to market…
Hydraulic valves, for the purpose of targeted pressure relief and damping, are a ubiquitous part of modern suspension systems. This paper deals with the analytical computation of fixed points of the dynamical system of a single-stage shock…
A fundamental step in the rational design of vascular targeted particles is the firm adhesion at the blood vessel walls. Here, a combined Lattice Boltzmann Immersed Boundary model is presented for predicting the near wall dynamics of…
We demonstrate a simple, flexible and cost-effective system to automatize most of the kinematic mounts available nowadays on the market. It combines 3D printed components, an Arduino board, stepper motors, and simple electronics. The system…
This paper considers the problem of parameter identification for a multirobot system. We wish to understand when is it feasible for an adversarial observer to reverse-engineer the parameters of tasks being performed by a team of robots by…