相关论文: Calibrated Dynamic Modeling for Force and Payload …
We present calculations of forces for two dimensional static sandpile models. Using a symbolic calculation software we obtain exact results for several different orientations of the lattice and for different types of supporting surfaces.…
In industrial inspection and component alignment tasks, template matching requires efficient estimation of a target's position and geometric state (rotation and scaling) under complex backgrounds to support precise downstream operations.…
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…
Monitoring water stage and discharge at hydrometric stations is essential for flood characterization and prediction. Continuous measurement is feasible for stage records, whereas discharge must be calculated, typically using a rating curve.…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…
We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…
Hydrodynamic modelling is an important tool for the development of tidal stream energy projects. Many hydrodynamic models incorporate the effect of tidal turbines through an enhanced bottom drag. In this paper we show that although for…
Recent years have seen tremendous advancements in the area of autonomous payload delivery via unmanned aerial vehicles, or drones. However, most of these works involve delivering the payload at a predetermined location using its GPS…
In the fields of agricultural machinery, construction equipment, and special-purpose vehicles, hydrostatic transmission (HST) drive systems have witnessed a significant increase in market penetration. With the rapid development of…
Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
Recently several European National Measurement Institutes have established traceable calibration methods for dynamic mechanical quantities, e.g., dynamic force, torque and pressure. However, the use in industry and elsewhere of dynamic…
Estimating the 3D position of human joints has become a widely researched topic in the last years. Special emphasis has gone into defining novel methods that extrapolate 2-dimensional data (keypoints) into 3D, namely predicting the…
Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…
Accurate prediction of application performance is critical for enabling effective scheduling and resource management in resource-constrained dynamic edge environments. However, achieving predictable performance in such environments remains…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…