相关论文: Autocalibration Subsystem for Cable-Driven Paralle…
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a…
Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is challenging due to inherent non-linearities in cable-driven…
Calibration of sensors is fundamental to robust performance for intelligent vehicles. In natural environments, disturbances can easily challenge calibration. One possibility is to use natural objects of known shape to recalibrate sensors.…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construction. However, this procedure is conducted with dangerous,…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…
External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…
Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
Autonomous vehicles are equipped with a multi-modal sensor setup to enable the car to drive safely. The initial calibration of such perception sensors is a highly matured topic and is routinely done in an automated factory environment.…
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient.…
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full…
Modern radio telescopes produce unprecedented amounts of data, which are passed through many processing pipelines before the delivery of scientific results. Hyperparameters of these pipelines need to be tuned by hand to produce optimal…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
This paper presents an analysis and rigorous procedure for determining the optimal lengths of line standards in multiline thru-reflect-line (TRL) calibration of vector network analyzers (VNAs). The solution is obtained through nonlinear…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact…
Estimating robot pose from a monocular RGB image is a challenge in robotics and computer vision. Existing methods typically build networks on top of 2D visual backbones and depend heavily on labeled data for training, which is often scarce…