相关论文: Robot kinematic structure classification from time…
Skeleton data carries valuable motion information and is widely explored in human action recognition. However, not only the motion information but also the interaction with the environment provides discriminative cues to recognize the…
Recent progress on action recognition has mainly focused on RGB and optical flow features. In this paper, we approach the problem of joint-based action recognition. Unlike other modalities, constellation of joints and their motion generate…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Visualization of the adjacency matrix enables us to capture macroscopic features of a network when the matrix elements are aligned properly. Community structure, a network consisting of several densely connected components, is a…
In this paper, we introduce a new hierarchical model for human action recognition using body joint locations. Our model can categorize complex actions in videos, and perform spatio-temporal annotations of the atomic actions that compose the…
Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well as in many robotic limbs, then the joint axis vector must be…
This paper presents a new information source for supporting robot localisation: material composition. The proposed method complements the existing visual, structural, and semantic cues utilized in the literature. However, it has a distinct…
Automated monitoring of construction operations, especially operations of equipment and machines, is an essential step toward cost-estimating, and planning of construction projects. In recent years, a number of methods were suggested for…
A robust and compact magneto-optical rotary encoder for the characterisation of robotic rotary joints is demonstrated. The system employs magnetic field-induced optical attenuation in a double-pass configuration using rotating nonuniform…
Human motion prediction aims to generate future motions based on the observed human motions. Witnessing the success of Recurrent Neural Networks (RNN) in modeling the sequential data, recent works utilize RNN to model human-skeleton motion…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment prediction. Using a history-augmented URMA architecture, the method infers joint-level and…
This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks. Key features include the use of an off-the-shelf physics engine…
This paper presents a method for algebraic fault detection and identification of nonlinear mechanical systems, describing rigid robots, by using an approximation with orthonormal Jacobi polynomials. An explicit expression is derived for the…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on the chosen coordinate chart, units, and…
Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…
Online system identification algorithms are widely used for monitoring, diagnostics and control by continuously adapting to time-varying dynamics. Typically, these algorithms consider a model structure that lacks parsimony and offers…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…
This paper investigates the automated recognition of structural bridge components using video data. Although understanding video data for structural inspections is straightforward for human inspectors, the implementation of the same task…