Related papers: Proprioceptive Shape Estimation of Tensegrity Mani…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to invariant Kalman filtering is provided to make this cutting-edge symmetry-preserving approach…
We present the Procrustes measure, a novel measure based on Procrustes rotation that enables quantitative comparison of the output of manifold-based embedding algorithms (such as LLE (Roweis and Saul, 2000) and Isomap (Tenenbaum et al,…
Magneto-mechanical resonators (MMRs) represent a recently proposed type of passive sensor that enables the estimation of its pose as well as sensing other parameters in its environment. The working principle of MMRs entails an excitation of…
Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide array of applications, ranging from locomotion to assembly. They…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…
We study the position estimation of a mechanical oscillator undergoing both detuned parametric amplification and continuous quantum measurement. This model, which can be utilised to produce squeezed states, is applied to a general…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
Slip and crumple detection is essential for performing robust manipulation tasks with a robotic hand (RH) like remote surgery. It has been one of the challenging problems in the robotics manipulation community. In this work, we propose a…
We propose a means of omni-directional contact detection using accelerometers instead of tactile sensors for object shape estimation using touch. Unlike tactile sensors, our contact-based detection method tends to induce a degree of…
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
Purpose: Six million people use crutches as mobile aids in the US. Rigid designs with no axial mobility limit sensory feedback and lead to secondary injury on the upper joints. Spring-loaded designs offer compliance but may compromise…
Background 15 The success of cementless hip arthroplasty depends on the primary stability of the femoral stem. It remains difficult to assess the optimal number of impacts to guarantee the femoral stem stability while avoiding bone…
The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of…
Physical intuition is pivotal for intelligent agents to perform complex tasks. In this paper we investigate the passive acquisition of an intuitive understanding of physical principles as well as the active utilisation of this intuition in…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
This paper proposes a novel method called MagShield, designed to address the issue of magnetic interference in sparse inertial motion capture (MoCap) systems. Existing Inertial Measurement Unit (IMU) systems are prone to orientation…
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…