相关论文: Robot self-calibration using multiple kinematic ch…
Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of collision and clamping. In this work, these hazards are…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases.…
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…
Humanoid robots have complex bodies and kinematic chains with several Degrees-of-Freedom (DoF) which are difficult to model. Learning the parameters of a kinematic model can be achieved by observing the position of the robot links during…
Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks. Whole-body control (WBC) based on hierarchical…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Accurate LiDAR-Camera (LC) calibration is challenging but crucial for autonomous systems and robotics. In this paper, we propose two single-shot and target-less algorithms to estimate the calibration parameters between LiDAR and camera…
Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…
So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i)…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
Schema matching is a core data integration task, focusing on identifying correspondences among attributes of multiple schemata. Numerous algorithmic approaches were suggested for schema matching over the years, aiming at solving the task…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
The reconstruction of a scene via a stereo-camera system is a two-steps process, where at first images from different cameras are matched to identify the set of point-to-point correspondences that then will actually be reconstructed in the…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…