相关论文: Continuum Robot Shape Estimation Using Magnetic Ba…

Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized…

Rotation invariance has been an important topic in computer vision tasks. Ideally, robot grasp detection should be rotation-invariant. However, rotation-invariance in robotic grasp detection has been only recently studied by using rotation…

The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…

This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…

In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a…

This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…

In this paper, a B-spline chained multiple random matrices representation is proposed to model geometric characteristics of an elongated deformable object. The hyper degrees of freedom structure of the elongated deformable object make its…

Nanomechanical resonators offer important benefits for the sensing of physical stimuli such as the mass of an added molecule. To map out the local shape properties of the physical stimuli, such as the distribution of the mass density of a…

Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…

In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…

Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large…

Wearable robotic systems are a class of robots that have a tight coupling between human and robot movements. Similar to non-wearable robots, it is important to measure the trust a person has that the robot can support achieving the desired…

continuum-robots, prosthetic devices and wearable body-shape sensors. A miniaturised one-degree-of-freedom joint-angle sensor is devised, using a single light emitting/receiving optical fibre with a coupler connected to a Keyence (FS-N11MN,…

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…

The precise and continuous tracking of millimetric-sized walkers --such as ants-- is quite important in behavioral studies. However, due to technical limitations, most studies concentrate on trajectories within arenas no more than 100 times…

We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…

Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in…

This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…