相关论文: Impact Intensity Estimation of a Quadruped Robot w…

In this paper, we describe an algorithm, based on the well-known Unscented Quaternion Estimator, to estimate external forces and torques acting on a quadrotor. This formulation uses a non-linear model for the quadrotor dynamics, naturally…

Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…

This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…

Wearable robotic devices have potential to assist and protect their users. Toward design of a Smart Helmet, this article examines the effectiveness of audio and visual warnings to help participants brace for impacts. A user study examines…

Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate…

To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot feet is particularly challenging due to static indeterminacy,…

Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…

Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…

We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…

The use of state estimation technique offers a means of inferring the rotor-effective wind speed based upon solely standard measurements of the turbine. For the ease of design and computational concerns, such estimators are typically built…

The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…

Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making…

Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…

As the availability of cobots increases, it is essential to address the needs of users with little to no programming knowledge to operate such systems efficiently. Programming concepts often use intuitive interaction modalities, such as…

When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…

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…

Steer-by-Wire systems replace mechanical linkages, which provide benefits like weight reduction, design flexibility, and compatibility with autonomous driving. However, they are susceptible to high-frequency disturbances from unintentional…