相关论文: Interactive Physically-Based Simulation of Roadhea…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
This paper describes a physics-based end-to-end software simulation for image systems. We use the software to explore sensors designed to enhance performance in high dynamic range (HDR) environments, such as driving through daytime tunnels…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Full-body avatar presence is crucial for immersive social and environmental interactions in digital reality. However, current devices only provide three six degrees of freedom (DOF) poses from the headset and two controllers (i.e.…
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by stitching together multiple subsolvers for different…
Purpose: Depending on the road surface profile, moving speed, transport weight, etc., the vehicle's body acceleration and dynamic load coefficient change as it moves. This study's goal is to ascertain the result of the road surface's…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic data generation applications, high-fidelity visualizations…
Physics-based animation of soft or rigid bodies for real-time applications often suffers from numerical instabilities. We analyse one of the most common sources of unwanted behaviour: the numerical integration strategy. To assess the impact…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprogramming, various interfaces using augmented reality have…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
This work pushes the boundaries of learning-based methods in autonomous robot exploration in terms of environmental scale and exploration efficiency. We present HEADER, an attention-based reinforcement learning approach with hierarchical…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
Traffic simulators act as an essential component in the operating and planning of transportation systems. Conventional traffic simulators usually employ a calibrated physical car-following model to describe vehicles' behaviors and their…