相关论文: Robust Embodied Self-Identification of Morphology …
Patient movement in emission tomography deteriorates reconstruction quality because of motion blur. Gating the data improves the situation somewhat: each gate contains a movement phase which is approximately stationary. A standard method is…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…
Robot manipulation policies, while central to the promise of physical AI, are highly vulnerable in the presence of external variations in the real world. Diagnosing these vulnerabilities is hindered by two key challenges: (i) the relevant…
In this paper, we present a real-time system identification method based on relay feedback testing with applications to multirotor unmanned aerial vehicles. The proposed identification method provides an alternative to the expensive lab…
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
Detecting faults in steel plates is crucial for ensuring the safety and reliability of the structures and industrial equipment. Early detection of faults can prevent further damage and costly repairs. This chapter aims at diagnosing and…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
Ultrasound robots are increasingly used in medical diagnostics and early disease screening. However, current ultrasound robots lack the intelligence to understand human intentions and instructions, hindering autonomous ultrasound scanning.…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…
Federated learning (FL) is a distributed machine learning technique that enables collaborative model training while avoiding explicit data sharing. The inherent privacy-preserving property of FL algorithms makes them especially attractive…
Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
An autonomous service robot should be able to interact with its environment safely and robustly without requiring human assistance. Unstructured environments are challenging for robots since the exact prediction of outcomes is not always…
Lower limb prosthesis can benefit from embedded systems capable of applying computer vision techniques to enhance autonomous control and context awareness for intelligent decision making. In order to fill in the gap of current literature of…
The growing penetration of renewable and distributed generation is transforming power systems and challenging conventional protection schemes that rely on fixed settings and local measurements. Machine learning (ML) offers a data-driven…