相关论文: The GRIFFIN Perception Dataset: Bridging the Gap B…

Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…

As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…

Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…

We present here the results of an analysis carried out by biologists and roboticists with the aim of modeling bird locomotion kinematics for robotics purposes. The aim was to develop a bio-inspired kinematic model of the bird leg from…

Multi-sensor fusion has significant potential in perception tasks for both indoor and outdoor environments. Especially under challenging conditions such as adverse weather and low-light environments, the combined use of millimeter-wave…

Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…

Stretching and retracting wingspan has been widely observed in the flight of birds and bats, and its effects on the aerodynamic performance particularly lift generation are intriguing. The rectangular flat-plate flapping wing with a…

Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…

For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust localization being a key prerequisite. To support further…

We discuss the problem of designing and implementing controllers for insect-scale flapping-wing micro air vehicles (FWMAVs), from a unifying perspective and employing two different experimental platforms; namely, a Harvard RoboBee-like…

Counting the number of birds in an open sky setting has been an challenging problem due to the large number of bird flocks and the birds can overlap. Another difficulty is the lack of accurate training samples since the cost of labeling…

Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an…

Morphology of a robot design is important to its ability to achieve a stated goal and therefore applying machine learning approaches that incorporate morphology in the design space can provide scope for significant advantage. Our study is…

A key challenge in robotic manipulation in open domains is how to acquire diverse and generalizable skills for robots. Recent research in one-shot imitation learning has shown promise in transferring trained policies to new tasks based on…

The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…

This work explores conditions under which multi-finger grasping algorithms can attain robust sim-to-real transfer. While numerous large datasets facilitate learning generative models for multi-finger grasping at scale, reliable real-world…

Cutting-edge robot learning techniques including foundation models and imitation learning from humans all pose huge demands on large-scale and high-quality datasets which constitute one of the bottleneck in the general intelligent robot…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…