Related papers: High Precision Hydraulic Excavator Control for Hea…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
Water level monitoring is critical for flood management, water resource allocation, and ecological assessment, yet traditional methods remain costly and limited in coverage. This work explores radar-based sensing as a low-cost alternative…
Precisely classifying earthquake types is crucial for elucidating the relationship between volcanic earthquakes and volcanic activity. However, traditional methods rely on subjective human judgment, which requires considerable time and…
A number of different multiscale methods have been developed as a robust alternative to upscaling and as a means for accelerated reservoir simulation of high-resolution geomodels. In their basic setup, multiscale methods use a restriction…
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…
Scaling up the deployment of autonomous excavators is of great economic and societal importance. Yet it remains a challenging problem, as effective systems must robustly handle unseen worksite conditions and new hardware configurations.…
The development of a set of high-order accurate finite-volume formulations for evaluation of the pressure gradient force in layered ocean models is described. A pair of new schemes are presented, both based on an integration of the contact…
The sewer inspection robot MAKRO is an autonomous multi-segment robot with worm-like shape driven by wheels. It is currently under development in the project MAKRO-PLUS. The robot has to navigate autonomously within sewer systems. Its first…
First-order automatic differentiation is a ubiquitous tool across statistics, machine learning, and computer science. Higher-order implementations of automatic differentiation, however, have yet to realize the same utility. In this paper I…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…
Traditional soil sampling and analysis methods are labor-intensive, time-consuming, and limited in spatial resolution, making them unsuitable for large-scale precision agriculture. To address these limitations, we present a robotic solution…
This paper presents a data-driven methodology for the control of static hydraulic impact hammers, also known as rock breakers, which are commonly used in the mining industry. The task addressed in this work is that of controlling the…
Handwritten STEM exams capture open-ended reasoning and diagrams, but manual grading is slow and difficult to scale. We present an end-to-end workflow for grading scanned handwritten engineering quizzes with multimodal large language models…
In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
An automatic optimisation procedure is proposed for some operational parameters of a Parallel-Plate Avalanche Counter with Optical Readout, a detector designed for heavy-ion tracking and imaging. Exploiting differentiable programming and…
The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties,…
In open-pit mining, holes are drilled into the surface of the excavation site and detonated with explosives to facilitate digging. These blast holes need to be inspected internally to assess subsurface material types and drill quality, in…
The precise and safe control of heavy material handling machines presents numerous challenges due to the hard-to-model hydraulically actuated joints and the need for collision-free trajectory planning with a free-swinging end-effector tool.…