相关论文: Real-time Data Driven Precision Estimator for RAVE…
To enhance lifting-load estimation accuracy in industrial upper-limb assistive exoskeletons, this study proposes a machine learning-based approach using insole pressure sensors. Unlike traditional methods that rely on electromyography…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
This work improves the positioning precision of lightweight robots with series elastic actuators (SEAs). Lightweight SEA robots, along with low-impedance control, can maneuver without causing damage in uncertain, confined spaces such as…
Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform…
The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS).…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational…
Despite the advances in robotics a large proportion of the of parts handling tasks in the automotive industry's internal logistics are not automated but still performed by humans. A key component to competitively automate these processes is…
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control…
Learning meaningful visual representations in an embedding space can facilitate generalization in downstream tasks such as action segmentation and imitation. In this paper, we learn a motion-centric representation of surgical video…
In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of surgeon, so it can take appropriate assisting actions. In…
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of…
In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…
Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera. In this study, we explore the potential of depth sensing…
Machine learning models of accelerator systems (`surrogate models') are able to provide fast, accurate predictions of accelerator physics phenomena. However, approaches to date typically do not include measured input diagnostics, such as…