相关论文: Predict the Rover Mobility over Soft Terrain using…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
Rovers require knowledge of terrain to plan trajectories that maximize safety and efficiency. Terrain type classification relies on input from human operators or machine learning-based image classification algorithms. However, high level…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific…
The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…
Autonomous navigation of car-like robots on uneven terrain poses unique challenges compared to flat terrain, particularly in traversability assessment and terrain-associated kinematic modelling for motion planning. This paper introduces…