相关论文: Robot joint characterisation and control using a m…
Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
In this paper, we consider an arbitrary number of joints and their arbitrary joint locations along the center line of a displacement-actuated continuum robot. To achieve this, we revisit the derivation of the Clarke transform leading to a…
As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems: they can operate in virtual, physical, and human realms.…
General detectors follow the pipeline that feature maps extracted from ConvNets are shared between classification and regression tasks. However, there exists obvious conflicting requirements in multi-orientation object detection that…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
We introduce STRING: Separable Translationally Invariant Position Encodings. STRING extends Rotary Position Encodings, a recently proposed and widely used algorithm in large language models, via a unifying theoretical framework.…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Studies of the human brain during natural activities, such as locomotion, would benefit from the ability to image deep brain structures during these activities. While Positron Emission Tomography (PET) can image these structures, the bulk…
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on the chosen coordinate chart, units, and…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move towards real world applications, from biological sensing to communication in…
Autonomous manipulation systems operating in domains where human intervention is difficult or impossible (e.g., underwater, extraterrestrial or hazardous environments) require a high degree of robustness to sensing and communication…
The binding problem in human cognition, concerning how the brain represents and connects objects within a fixed network of neural connections, remains a subject of intense debate. Most machine learning efforts addressing this issue in an…
The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or…
As an advanced imaging system, the magneto-optical-electric joint-measurement scanning imaging system (MOEJSI) brings spectroscopic techniques with unmatched spatial resolution to very low temperature, high magnetic field and high electric…
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…
Magnetic encoders currently provide accurate positioning information by reading periodic patterns with equally spaced structures or bits. As this technology evolves to fulfill industrial demands for cheaper and more accurate systems,…