相关论文: Kinematics & Dynamics Library for Baxter Arm
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond…
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capability is the cornerstone of physical artificial…
The natural interaction and control performance of lower limb rehabilitation robots are closely linked to biomechanical information from various human locomotion activities. Multidimensional human motion data significantly deepen the…
In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…
The Kilobot is a widely used platform for investigation of swarm robotics. Physical Kilobots are slow moving and require frequent recalibration and charging, which significantly slows down the development cycle. Simulators can speed up the…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not explicitly account for the physical symmetries of robotic…
We present a framework that, given a set of skills a robot can perform, abstracts sensor data into symbols that we use to automatically encode the robot's capabilities in Linear Temporal Logic. We specify reactive high-level tasks based on…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulation and can mobilize as…
As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…
Robot developers develop various types of robots for satisfying users' various demands. Users' demands are related to their backgrounds and robots suitable for users may vary. If a certain developer would offer a robot that is different…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
Learning-based methods for dexterous manipulation have made notable progress in recent years. However, learned policies often still lack reliability and exhibit limited robustness to important factors of variation. One failure pattern that…