相关论文: Task Space Control of Robot Manipulators based on …
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which…
To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…
The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable an intelligent agent…
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…
The evolving field of mobile robotics has indeed increased the demand for simultaneous localization and mapping (SLAM) systems. To augment the localization accuracy and mapping efficacy of SLAM, we refined the core module of the SLAM…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
Simultaneous Localization and Mapping (SLAM) and Multi-Object Tracking (MOT) are pivotal tasks in the realm of autonomous driving, attracting considerable research attention. While SLAM endeavors to generate real-time maps and determine the…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…