相关论文: Hybrid Visual Servoing of Tendon-driven Continuum …
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission…
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows…
Video restoration tasks, including super-resolution, deblurring, etc, are drawing increasing attention in the computer vision community. A challenging benchmark named REDS is released in the NTIRE19 Challenge. This new benchmark challenges…
Nowadays, autonomous service robots are becoming an important topic in robotic research. Differently from typical industrial scenarios, with highly controlled environments, service robots must show an additional robustness to task…
Image-based modeling techniques can now generate photo-realistic 3D models from images. But it is up to users to provide high quality images with good coverage and view overlap, which makes the data capturing process tedious and time…
Variable speed limit (VSL) control is an established yet challenging problem to improve freeway traffic mobility and alleviate bottlenecks by customizing speed limits at proper locations based on traffic conditions. Recent advances in deep…
Existing deep reinforcement learning (DRL) based methods for solving the capacitated vehicle routing problem (CVRP) intrinsically cope with homogeneous vehicle fleet, in which the fleet is assumed as repetitions of a single vehicle. Hence,…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…
Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional methods often require prior knowledge and are susceptible to…
Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…
Shooting video with handheld shooting devices often results in blurry frames due to shaking hands and other instability factors. Although previous video deblurring methods have achieved impressive progress, they still struggle to perform…
Video super-resolution (VSR) seeks to reconstruct high-resolution frames from low-resolution inputs. While diffusion-based methods have substantially improved perceptual quality, extending them to video remains challenging for two reasons:…
The deep reinforcement learning-based energy management strategies (EMS) have become a promising solution for hybrid electric vehicles (HEVs). When driving cycles are changed, the neural network will be retrained, which is a time-consuming…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…
Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
Advances in deep learning have greatly widened the scope of automatic computer vision algorithms and enable users to ask questions directly about the content in images and video. This paper explores the necessary steps towards a future…