相关论文: A novel robot calibration method with plane constr…
This paper proposes a method for calibrating control parameters. Examples of such control parameters are gains of PID controllers, weights of a cost function for optimal control, filter coefficients, the sliding surface of a sliding mode…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
This paper introduces a novel state estimation framework for robots using differentiable ensemble Kalman filters (DEnKF). DEnKF is a reformulation of the traditional ensemble Kalman filter that employs stochastic neural networks to model…
This letter explores covariance matching-based adaptive robust cubature Kalman filter (CMRACKF). In this method, the innovation sequence is used to determine the covariance matrix of measurement noise that can overcome the limitation of…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Intraoperative tracking of surgical instruments is an inevitable task of computer-assisted surgery. An optical tracking system often fails to precisely reconstruct the dynamic location and pose of a surgical tool due to the acquisition…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
Ubiquitous robot control and human-robot collaboration using smart devices poses a challenging problem primarily due to strict accuracy requirements and sparse information. This paper presents a novel approach that incorporates a…
With the widespread application of industrial robots, the problem of absolute positioning accuracy becomes increasingly prominent. To ensure the working state of the robots, researchers commonly adopt calibration techniques to improve its…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…