相关论文: Autocalibration Subsystem for Cable-Driven Paralle…
The impedances of cables and lines used in (multi-conductor) distribution networks are usually unknown or approximated, and may lead to problematic results for any physics-based power system calculation, e.g., (optimal) power flow. Learning…
Response calibration is the process of inferring how much the measured data depend on the signal one is interested in. It is essential for any quantitative signal estimation on the basis of the data. Here, we investigate self-calibration…
Disentangling two or more cables requires many steps to remove crossings between and within cables. We formalize the problem of disentangling multiple cables and present an algorithm, Iterative Reduction Of Non-planar Multiple cAble kNots…
Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy…
The inductive charging of electric vehicles requires specific measurement and calibration systems. In fact, the measurement of power on board involves DC signals, which are superimposed to a significant AC ripple up to or over 150 kHz,…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Smart meters provide relevant information for impedance identification, but they lack global phase alignment and internal network nodes are often unobserved. A few methods for this setting were developed, but they have requirements on data…
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…
The industrial insertion of flexible flat cables (FFCs) into receptacles presents a significant challenge owing to the need for submillimeter precision when handling the deformable cables. In manufacturing processes, FFC insertion with…
Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
This work addresses the challenge of enabling a team of quadrupedal robots to collaboratively tow a cable-connected load through cluttered and unstructured environments while avoiding obstacles. Leveraging cables allows the multi-robot…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
We propose a composite diagnostics solution for railway infrastructure monitoring. In particular, we address the issue of soft-fault detection in underground railway cables. We first demonstrate the feasibility of an orthogonal multitone…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
This paper presents the first decentralized method to enable real-world 6-DoF manipulation of a cable-suspended load using a team of Micro-Aerial Vehicles (MAVs). Our method leverages multi-agent reinforcement learning (MARL) to train an…
A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…