相关论文: Robot joint characterisation and control using a m…
Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use neural network encoders to extract image features and…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
The main objective of this work is to develop a miniaturized, high accuracy, single-turn absolute, rotary encoder called ASTRAS360. Its measurement principle is based on capturing an image that uniquely identifies the rotation angle. To…
Multi-person motion capture can be challenging due to ambiguities caused by severe occlusion, fast body movement, and complex interactions. Existing frameworks build on 2D pose estimations and triangulate to 3D coordinates via reasoning the…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
Optical magnetometers are currently able to achieve magnetometric sensitivities below 1 fT/Hz^1/2. Although such sensitivities are typically obtained for ultra-low-field measurements, a group of optical magnetometers allows the detection of…
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
Overfitted neural video codecs offer a decoding complexity orders of magnitude smaller than their autoencoder counterparts. Yet, this low complexity comes at the cost of limited compression efficiency, in part due to their difficulty…
This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical…
This manuscript investigates the integration of positional encoding -- a technique widely used in computer graphics -- into the input vector of a binary classification model for self-collision detection. The results demonstrate the benefits…
Rotating modulation is a technique for indirect imaging in the hard x-ray and soft gamma-ray energy bands, which may offer an advantage over coded aperture imaging at high energies. A rotating modulator (RM) consists of a single mask of…
Robots generally have a structure that combines rotational joints and links in a serial fashion. On the other hand, various joint mechanisms are being utilized in practice, such as prismatic joints, closed links, and wire-driven systems.…
The operation of a high sensitive atomic magnetometer using resonant elliptically polarized light is demonstrated. The experimental geometry allows autonomous frequency stabilization of the laser, thereby offers compact operation of the…
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that…
Magnetic soft continuum robots (MSCRs) have emerged as powerful devices in endovascular interventions owing to their hyperelastic fibre matrix and enhanced magnetic manipulability. Effective closed-loop control of tethered magnetic devices…
Our interest lies in the identification of hidden conducting permeable objects from measurements of the perturbed magnetic field in metal detection taken over range of low frequencies. The magnetic polarizability tensor (MPT) provides a…
In this paper we present a novel algorithm to solve the robot kinematic structure identification problem. Given a time series of data, typically obtained processing a set of visual observations, the proposed approach identifies the ordered…