相关论文: UKF-Based Sensor Fusion for Joint-Torque Sensorles…
Tracking people in a video sequence is one of the fields of interest in computer vision. It has broad applications in motion capture and surveillance. However, due to the complexity of human dynamic structure, detecting and tracking are not…
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…
Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…
A modification scheme to the ensemble Kalman filter (EnKF) is introduced based on the concept of the unscented transform (Julier et al., 2000; Julier and Uhlmann, 2004), which therefore will be called the ensemble unscented Kalman filter…
Multi-modal sensor data fusion takes advantage of complementary or reinforcing information from each sensor and can boost overall performance in applications such as scene classification and target detection. This paper presents a new…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Long-term inertial navigation is currently limited by the bias drifts of gyroscopes and accelerometers and ultra-stable cold-atom interferometers offer a promising alternative for the next generation of high-end navigation systems. Here, we…
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…
Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high…
This paper proposes a nonlinear stochastic complementary filter design for inertial navigation that takes advantage of a fusion of Ultra-wideband (UWB) and Inertial Measurement Unit (IMU) technology ensuring semi-global uniform ultimate…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…
With the increasing use of surgical robots in clinical practice, enhancing their ability to process multimodal medical images has become a key research challenge. Although traditional medical image fusion methods have made progress in…
Learning from demonstrations (LfD) enables humans to easily teach collaborative robots (cobots) new motions that can be generalized to new task configurations without retraining. However, state-of-the-art LfD methods require manually tuning…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Various types of sensors can be used for Human Activity Recognition (HAR), and each of them has different strengths and weaknesses. Sometimes a single sensor cannot fully observe the user's motions from its perspective, which causes wrong…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…