Related papers: Robot joint characterisation and control using a m…
This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras. The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering. We…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…
The radical-pair mechanism is understood to underlie the magnetic navigation capability of birds and possibly other species. Experiments with birds have provided indirect and in cases conflicting evidence on the actual existence of this…
Rotating magnets have recently emerged as an efficient method for producing ultra-low frequency signals for through-earth and through-seawater communications. Magneto-mechanical resonator (MMR) arrays, which are magnetized torsional rotors…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Rotary transformers are commonly used in wound rotor resolvers to transfer excitation signals to the rotating winding without mechanical contact. In many analyses, the rotary transformer is modeled as an ideal transformer, where the voltage…
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…
Motor kinematics prediction (MKP) from electroencephalography (EEG) is an important research area for developing movement-related brain-computer interfaces (BCIs). While traditional methods often rely on convolutional neural networks (CNNs)…
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under…
Map matching and registration are essential tasks in robotics for localisation and integration of multi-session or multi-robot data. Traditional methods rely on cameras or LiDARs to capture visual or geometric information but struggle in…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
This work introduces a Transformer-based image compression system. It has the flexibility to switch between the standard image reconstruction and the denoising reconstruction from a single compressed bitstream. Instead of training separate…
In this paper, we show how continuous-variable dense coding can be implemented using entangled light generated from a membrane-in-the-middle geometry. The mechanical resonator is assumed to be a high reflectivity membrane hung inside a high…
Optical communication can be revolutionized by encoding data into the orbital angular momentum of light beams. However, state-of-the-art approaches for dynamic control of complex optical wavefronts are mainly based on liquid crystal spatial…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
In this paper we address the problem of indoor localization using magnetic field data in two setups, when data is collected by (i) human-held mobile phone and (ii) by localization robots that perturb magnetic data with their own…
Ophthalmic images may contain identical-looking pathologies that can cause failure in automated techniques to distinguish different retinal degenerative diseases. Additionally, reliance on large annotated datasets and lack of knowledge…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…