Related papers: Mobile Robot Localization Using a Novel Whisker-Li…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…
Whiskers provide a way to sense surfaces in the immediate environment without disturbing it. In this paper we present a method for using highly flexible, curved, passive whiskers mounted along a robot arm to gather sensory data as they…
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the most likely sensor model for a time series of unknown…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or…
Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size limits conventional sensing-especially with poor-lighting, smoke, dust or reflective obstacles. Inspired…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
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…
Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…
Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a…
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…