相关论文: Predict the Rover Mobility over Soft Terrain using…

Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…

Predicting human trajectory is crucial for social robot navigation in crowded environments. While most existing approaches treat human as point mass, we present a study on multi-agent trajectory prediction that leverages different human…

Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored…

Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, robust and long-term localization for…

This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…

Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…

Terramechanics plays a critical role in the areas of ground vehicles and ground mobile robots since understanding and estimating the variables influencing the vehicle-terrain interaction may mean the success or the failure of an entire…

Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…

Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…

Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…

Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…