相关论文: Field Assessment of Force Torque Sensors for Plane…
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque…
This paper proposes techniques to calibrate six-axis force-torque sensors that can be performed in situ, i.e., without removing the sensor from the hosting system. We assume that the force-torque sensor is attached to a rigid body equipped…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Autonomous robots consistently encounter unforeseen dangerous situations during exploration missions. The characteristic rimless wheels in the AsguardIV rover allow it to overcome challenging terrains. However, steep slopes or difficult…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Forklifts are essential for transporting goods in industrial environments. These machines face wear and tear during field operations, along with rough terrain, tight spaces and complex handling scenarios. This increases the likelihood of…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
Accurate soil mapping is critical for a highly-automated agricultural vehicle to successfully accomplish important tasks including seeding, ploughing, fertilising and controlled traffic, with limited human supervision, ensuring at the same…
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Six-axes force/torque sensors are increasingly needed in mechanical engineering. Here, we introduce a flexure-based design for such sensors, which solves some of the drawbacks of the existing designs. In particular, it is backlash-free, it…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
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…
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their complex, uneven terrain favors the use of legged robots,…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…