Related papers: Interacting Multiple Model Proprioceptive Odometry…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
Dynamics modeling in outdoor and unstructured environments is difficult because different elements in the environment interact with the robot in ways that can be hard to predict. Leveraging multiple sensors to perceive maximal information…
Autonomous vehicles and mobile robotic systems are typically equipped with multiple sensors to provide redundancy. By integrating the observations from different sensors, these mobile agents are able to perceive the environment and estimate…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a…
Object detection in remote sensing imagery plays a vital role in various Earth observation applications. However, unlike object detection in natural scene images, this task is particularly challenging due to the abundance of small, often…
The incremental poses computed through odometry can be integrated over time to calculate the pose of a device with respect to an initial location. The resulting global pose may be used to formulate a second, consistency based, loss term in…
An effective paradigm for simulating the dynamics of robots that locomote and manipulate is multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs between accuracy, running time, and simplicity of…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond…
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still…
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on…
Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…