相关论文: Redundancy Parameterization of the ABB YuMi Robot …
The main purpose of this research is to move the robotic arm (5DoF) in real-time, based on the surface Electromyography (sEMG) signals, as obtained from the wireless Myo gesture armband to distinguish seven hand movements. The sEMG signals…
Humanoid robots have complex bodies and kinematic chains with several Degrees-of-Freedom (DoF) which are difficult to model. Learning the parameters of a kinematic model can be achieved by observing the position of the robot links during…
We propose a novel computational framework that models human social decision-making under uncertainty as an integrated Multi-Armed Bandit (MAB) and Markov Decision Process (MDP) optimization problem, in which agents adaptively balance the…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
This paper presents a comprehensive approach to singularity detection and avoidance in UR10 robotic arm path planning through the integration of fuzzy logic safety systems and reinforcement learning algorithms. The proposed system addresses…
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions allows for the simultaneous solving of auxiliary tasks like…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
When robot manipulators decide how to reach for an object, hand it over, or obey some task constraint, they implicitly assume a Euclidean distance metric in their configuration space. Their notion of what makes a configuration closer or…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Knowledge of a manipulator's workspace is fundamental for a variety of tasks including robot design, grasp planning and robot base placement. Consequently, workspace representations are well studied in robotics. Two important…
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This paper presents a computational method for estimating joint…
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a motion planning framework that plans arm motions for a…
We study fixed-confidence Best Arm Identification (BAI) in semiparametric bandits, where rewards are linear in arm features plus an unknown additive baseline shift. Unlike linear-bandit BAI, this setting requires orthogonalized regression,…
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…
Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a…