Related papers: A Reproducible and Physically Feasible Dynamic Par…
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
Surgical treatment of complicated knee fractures is guided by real-time imaging using a mobile C-arm. Immediate and continuous control is achieved via 2D anatomy-specific standard views that correspond to a specific C-arm pose relative to…
Running offers substantial health benefits, but improper gait patterns can lead to injuries, particularly without expert feedback. While prior gait analysis systems based on cameras, insoles, or body-mounted sensors have demonstrated…
This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
This paper presents a fast and accurate model of a deformable linear object (DLO) -- e.g., a rope, wire, or cable -- integrated into an established robot physics simulator, MuJoCo. Most accurate DLO models with low computational times exist…
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of…
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonlinear dynamics. Recently, Data-enabled Predictive Control…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…