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Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better…

Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…

Owing to their favorable scaling with dimensionality, Monte Carlo (MC) methods have become the tool of choice for numerical integration across the quantitative sciences. Almost invariably, efficient MC integration schemes are strictly…

Mobile robots with complex morphology are essential for traversing rough terrains in Urban Search & Rescue missions (USAR). Since teleoperation of the complex morphology causes high cognitive load of the operator, the morphology is…

Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…

Robot dogs are receiving increasing attention in various fields of research. However, the number of studies investigating their potential usability on construction sites is scarce. The construction industry implies several human…

Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…

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…

The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community…

Tool condition monitoring (TCM) systems can improve productivity and ensure workpiece quality, yet, there is a lack of reliable TCM solutions for small-batch or one-off manufacturing of industrial parts. TCM methods which include the…

Machine Learning is a diverse field applied across various domains such as computer science, social sciences, medicine, chemistry, and finance. This diversity results in varied evaluation approaches, making it difficult to compare models…

This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their…

Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…

The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…

This paper proposes a cutting mechanics-based machine learning (CMML) modeling method to discover governing equations of machining dynamics. The main idea of CMML design is to integrate existing physics in cutting mechanics and unknown…

Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…

Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move towards real world applications, from biological sensing to communication in…

Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a…

Due to high-mix-low-volume production, sheet-metal workshops today are challenged by small series and varying orders. As standard automation solutions tend to fall short, SMEs resort to repetitive manual labour impacting production costs…

Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when…