Related papers: Acoustic Feedback for Closed-Loop Force Control in…
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
We introduced a measurement procedure for the involuntary response of voice fundamental-frequency to frequency modulated auditory stimulation. This involuntary response plays an essential role in voice fundamental frequency control while…
This paper analyzes output feedback control of a class of unknown nonlinear systems in the presence of measurement noise using multiple high-gain observers (MHGO). It is well-known that single high-gain observers (HGO) are not able to…
Automatic speech recognition (ASR) meets more informal and free-form input data as voice user interfaces and conversational agents such as the voice assistants such as Alexa, Google Home, etc., gain popularity. Conversational speech is both…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
We introduce Audio-Visual Affordance Grounding (AV-AG), a new task that segments object interaction regions from action sounds. Unlike existing approaches that rely on textual instructions or demonstration videos, which often limited by…
We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a…
The present paper introduces a novel approach for modelling the governing, slow dynamics of near-field acoustically levitated objects. This model is sufficiently simple and concise to enable designing a closed-loop controller, capable of…
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure…
Vibration compensation is important for many domains. For the machine tool industry it translates to higher machining precision and longer component lifetime. Current methods for vibration damping have their shortcomings (e.g. need for…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
Automatic speech recognition (ASR) has benefited from advances in pretrained speech and language models, yet most systems remain constrained to monolingual settings and short, isolated utterances. While recent efforts in context-aware ASR…
Spoken dialogue systems (SDSs) utilize automatic speech recognition (ASR) at the front end of their pipeline. The role of ASR in SDSs is to recognize information in user speech related to response generation appropriately. Examining…
Today, the optimal performance of existing noise-suppression algorithms, both data-driven and those based on classic statistical methods, is range bound to specific levels of instantaneous input signal-to-noise ratios. In this paper, we…
This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…
Noise reduction techniques based on deep learning have demonstrated impressive performance in enhancing the overall quality of recorded speech. While these approaches are highly performant, their application in audio engineering can be…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…