相关论文: System Identification and Control of Valkyrie thro…

This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…

Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…

Applications of force control and motion planning often rely on an inverse dynamics model to represent the high-dimensional dynamic behavior of robots during motion. The widespread occurrence of low-velocity, small-scale, locally isotropic…

Computation of the vertices of the convex hull of a set $S$ of $n$ points in $\mathbb{R} ^m$ is a fundamental problem in computational geometry, optimization, machine learning and more. We present "All Vertex Triangle Algorithm" (AVTA), a…

In recent years, robotic table tennis has become a popular research challenge for perception and robot control. Here, we present an improved table tennis robot system with high accuracy vision detection and fast robot reaction. Based on…

Recently non-linear control methods like Model Predictive Control (MPC) and Reinforcement Learning (RL) have attracted increased interest in the quadrotor control community. In contrast to classic control methods like cascaded PID…

Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…

In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…

Biological flying, gliding, and falling creatures are capable of extraordinary forms of inertial maneuvering: free-space maneuvering based on fine control of their multibody dynamics, as typified by the self-righting reflexes of cats.…

The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of…

Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we present a novel control framework that integrates system…

This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, and their influence upon…

We are concerned with a novel sensor-based gesture input/instruction technology which enables human beings to interact with computers conveniently. The human being wears an emitter on the finger or holds a digital pen that generates a time…

In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped robots, is proposed. Quadruped robots primarily use VIO…

We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fly independently, and exchange data when possible to refine…

The recursive Newton-Euler Algorithm (RNEA) is a popular technique for computing the dynamics of robots. RNEA can be framed as a differentiable computational graph, enabling the dynamics parameters of the robot to be learned from data via…

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying…

Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…