相关论文: Innovative Design of Multi-functional Supernumerar…
Stacked intelligent metasurfaces (SIMs) represent a novel signal processing paradigm that enables over-the-air processing of electromagnetic waves at the speed of light. Their multi-layer architecture exhibits customizable computational…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
The received signal strength (RSS) based technique is extensively utilized for localization in the indoor environments. Since the RSS values of neighboring locations may be similar, the localization accuracy of the RSS based technique is…
This paper proposes a Satisfiability Modulo Theory based formulation for floorplanning in VLSI circuits. The proposed approach allows a number of fixed blocks to be placed within a layout region without overlapping and at the same time…
Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we propose MIS-SLAM: a complete real-time large scale dense…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
With the widespread application of industrial robots, the problem of absolute positioning accuracy becomes increasingly prominent. To ensure the working state of the robots, researchers commonly adopt calibration techniques to improve its…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
This paper focuses on optimal beamforming to maximize the mean signal-to-noise ratio (SNR) for a reconfigurable intelligent surface (RIS)-aided MISO downlink system under correlated Rician fading. The beamforming problem becomes non-convex…
How can one analyze detailed 3D biological objects, such as neurons and botanical trees, that exhibit complex geometrical and topological variation? In this paper, we develop a novel mathematical framework for representing, comparing, and…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive…
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation with an online multi-stage object inertial parameter…