相关论文: Efficacy of Haptic Pedal Feel Compensation on Driv…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate models of familiar objects)…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a…
Hand-tracking enables controller-free XR interaction but does not have the tactile feedback controllers provide. Rather than treating this solely as a missing-sensation problem, we explore whether pseudo-haptic cues on an embodied virtual…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Recent research in pedestrian simulation often aims to develop realistic behaviors in various situations, but it is challenging for existing algorithms to generate behaviors that identify weaknesses in automated vehicles' performance in…
Braking system, the key module to ensure the safety and steer-ability of current vehicles, relies on extensive manual calibration during production. Reducing labor and time consumption while maintaining the Vehicle Braking Controller (VBC)…
Electrotactile feedback is a promising method for delivering haptic sensations, but challenges such as the naturalness of sensations hinder its adoption in commercial devices. In this study, we introduce a novel device that enables the…
Cooperation is fundamental to human societies, and indirect reciprocity, where individuals cooperate to build a positive reputation for future benefits, plays a key role in promoting it. Previous theoretical and experimental studies have…
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…
Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…
In the behavioral cloning approach to end-to-end driving, a dataset of expert driving is collected and the model learns to guess what the expert would do in different situations. Situations are summarized in observations and the outputs are…
Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
We propose a perception imitation method to simulate results of a certain perception model, and discuss a new heuristic route of autonomous driving simulator without data synthesis. The motivation is that original sensor data is not always…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Cycling is critical for cities to transition to more sustainable transport modes. Yet, safety concerns remain a critical deterrent for individuals to cycle. If individuals perceive an environment as unsafe for cycling, it is likely that…
Connected and automated vehicles (CAVs) have been recognized as providing unprecedented opportunities for substantial fuel economy improvement through CAV-based vehicle speed trajectory optimization (eco-driving). At the same time, the…