相关论文: Sensor Observability Analysis for Maximizing Task-…

Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements are used for load identification, contact detection, and…

Alternating current (AC) electrical drive control without mechanical sensors is an active research topic. This paper studies the observability of both induction machine and synchronous machine sensorless drives. Observer-based sensorless…

Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…

Distributed radar sensors enable robust human activity recognition. However, scaling the number of coordinated nodes introduces challenges in feature extraction from large datasets, and transparent data fusion. We propose an end-to-end…

Supervised operator learning is an emerging machine learning paradigm with applications to modeling the evolution of spatio-temporal dynamical systems and approximating general black-box relationships between functional data. We propose a…

This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is…

3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…

Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…

Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics…

Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…

So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i)…

In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…

This paper introduces a novel framework for optimizing observer-based soft sensors through dynamic causality analysis. Traditional approaches to sensor selection often rely on linearized observability indices or statistical correlations…

In many applications, robots are increasingly deployed in unstructured and natural environments where they encounter various types of vegetation. Vegetation presents unique challenges as a traversable obstacle, where the mechanical…

Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…

Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…

This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…