相关论文: Open-Source Software Architecture for Multi-Robot …
Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…
Modeling 3D articulated objects with realistic geometry, textures, and kinematics is essential for a wide range of applications. However, existing optimization-based reconstruction methods often require dense multi-view inputs and expensive…
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
Orbital angular momentum (OAM) radars are able to estimate the azimuth angle and the rotation velocity of multiple targets without relative motion or beam scanning. Moreover, OAM wireless communications can achieve high spectral efficiency…
Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication process but struggles with…
Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…
Additive manufacturing technologies are positioned to provide an unprecedented innovative transformation in how products are designed and manufactured. Due to differences in the technical specifications of AM technologies, the final…
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to high-level autonomous behaviour requires a complicated…
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct…
Software architecture design is a critical, yet inherently complex and knowledge-intensive phase of software development. It requires deep domain expertise, development experience, architectural knowledge, careful trade-offs among competing…
In this paper, we introduce OpenVSLAM, a visual SLAM framework with high usability and extensibility. Visual SLAM systems are essential for AR devices, autonomous control of robots and drones, etc. However, conventional open-source visual…
Additive manufacturing (AM), also known as 3D printing, is one of the most promising digital manufacturing technologies, thanks to its potential to produce highly complex geometries rapidly. AM has been promoted from a prototyping…
Enabling robots to understand language instructions and react accordingly to visual perception has been a long-standing goal in the robotics research community. Achieving this goal requires cutting-edge advances in natural language…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
There is a clear difference in runtime performance between native applications that use augmented/virtual reality (AR/VR) device-specific hardware and comparable web-based implementations. Here we show that WebAssembly (Wasm) offers a…
In the current industrial revolution, additive manufacturing (AM) embodies a promising technology that can enhance the effectiveness, adaptability, and competitiveness of supply chains (SCs). Moreover, it facilitates the development of…
Significant developments in the field of additive manufacturing (AM) allowed the fabrication of complex microarchitectured components with varying porosity across different scales. However, due to the high complexity of this process, the…
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…
Additive manufacturing (AM) allows for manufacturing of complex three-dimensional geometries not typically realizable with standard subtractive manufacturing practices. The internal microstructure of a 3D printed component can have a…