相关论文: Multiple-Channel Real Time Filtering for a Myoelec…

This paper is about a real-time model predictive control (MPC) algorithm for a particular class of model based controllers, whose objective consists of a nominal tracking objective and an additional learning objective. Here, the…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Current developments in molecular electronics, motors and chemical sensors could enable constructing large numbers of devices able to sense, compute and act in micron-scale environments. Such microscopic machines, of sizes comparable to…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…

For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…

Background: Multi-articulate prostheses are capable of performing dexterous hand movements. However, clinically available control strategies fail to provide users with intuitive, independent and proportional control over multiple degrees of…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…

Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…

Objective: Enhancing the reliability of myoelectric controllers that decode motor intent is a pressing challenge in the field of bionic prosthetics. State-of-the-art research has mostly focused on Supervised Learning (SL) techniques to…

Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…

This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy…

We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…

The instability of myoelectric signals over time complicates their use to control highly articulated prostheses. To address this problem, studies have tried to combine surface electromyography with modalities that are less affected by the…

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…

Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…