相关论文: Safety Evaluation of Human Arm Operations Using IM…
The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
Integration of intermittent renewable energy sources in modern power systems is increasing very fast. Replacement of synchronous generators with zero-to-low variable renewables substantially decreases the system inertia. In a large system,…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
We introduce the notion of importance sampling under embedded barrier state control, titled Safety Controlled Model Predictive Path Integral Control (SC-MPPI). For robotic systems operating in an environment with multiple constraints, hard…
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and…
Multiple rigidly attached Inertial Measurement Unit (IMU) sensors provide a richer flow of data compared to a single IMU. State-of-the-art methods follow a probabilistic model of IMU measurements based on the random nature of errors…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Real-time human motion reconstruction from a sparse set of (e.g. six) wearable IMUs provides a non-intrusive and economic approach to motion capture. Without the ability to acquire position information directly from IMUs, recent works took…
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…
The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications. In this article, we revisit the preintegration theory and propose a novel interpretation to understand it from a nonlinear…
Soft, tip-extending vine robots are well suited for navigating tight, debris-filled environments, making them ideal for urban search and rescue. Sensing the full shape of a vine robot's body is helpful both for localizing information from…
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on…
Achieving reliable ego motion estimation for agile robots, e.g., aerobatic aircraft, remains challenging because most robot sensors fail to respond timely and clearly to highly dynamic robot motions, often resulting in measurement blurring,…
Human Activity Recognition (HAR) based on wearable inertial sensors plays a critical role in remote health monitoring. In patients with movement disorders, the ability to detect abnormal patient movements in their home environments can…
Traditional human activity recognition uses either direct image analysis or data from wearable inertial measurement units (IMUs), but can be ineffective in challenging underwater environments. We introduce a novel hybrid approach that…
Emergency stop (E-stop) mechanisms are the de facto standard for robot safety. However, for humanoid robots, abruptly cutting power can itself cause catastrophic failures; instead, an emergency stop must execute a predefined fallback…
Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we…