相关论文: Optimizing Lead Time in Fall Detection for a Plana…
Inspection of insulators is important to ensure reliable operation of the power system. Deep learning is being increasingly exploited to automate the inspection process by leveraging object detection models to analyse aerial images captured…
For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
Falls are the public health issue for the elderly all over the world since the fall-induced injuries are associated with a large amount of healthcare cost. Falls can cause serious injuries, even leading to death if the elderly suffers a…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
For the elderly population, falls pose a serious and increasing risk of serious injury and loss of independence. In order to overcome this difficulty, we present ElderFallGuard: A Computer Vision Based IoT Solution for Elderly Fall…
Humanoid robots have received significant research interests and advancements in recent years. Despite many successes, due to their morphology, dynamics and limitation of control policy, humanoid robots are prone to fall as compared to…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions…
Estimating and detecting faults is crucial in ensuring safe and efficient automated systems. In the presence of disturbances, noise or varying system dynamics, such estimation is even more challenging. To address this challenge, this…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
An autonomous service robot should be able to interact with its environment safely and robustly without requiring human assistance. Unstructured environments are challenging for robots since the exact prediction of outcomes is not always…
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner does fast online optimization for footstep locations and Center…
Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…