相关论文: Conjugate momentum based thruster force estimate i…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
This research concentrates on enhancing the navigational capabilities of Northeastern Universitys Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation and thrust vectoring, to traverse through narrow pathways such…
Angular velocity estimation is critical for eddy current de-tumbling of noncooperative space targets. However, unknown model of the noncooperative target and few observation data make the model-based estimation methods challenged. In this…
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…
Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…
Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
We propose a representation for the set of forces a robot can counteract using full system dynamics: the residual force polytope. Given the nominal torques required by a dynamic motion, this representation models the forces which can be…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller…
This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a…
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
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…
Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do the same and thereby greatly simplifying…
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…