相关论文: Robot joint characterisation and control using a m…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…
Ultra-sensitive measurement of the magneto-optical rotation, due to interaction of linearly-polarized light passing through room-temperature Rb 85 atoms, in response to change in longitudinal magnetic field (\delta B_z ) is demonstrated…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
We demonstrate identification of position, material, orientation and shape of objects imaged by an $^{85}$Rb atomic magnetometer performing electromagnetic induction imaging supported by machine learning. Machine learning maximizes the…
Purpose: Magnetic polarizability tensors (MPTs) provide an economical characterisation of conducting magnetic metallic objects and their spectral signature can aid in the solution of metal detection inverse problems, such as scrap metal…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…
Magnetic response soft robot realizes programmable shape regulation with the help of magnetic field and produces various actions. The shape control of magnetic soft robot is based on the magnetic anisotropy caused by the orderly…
An algorithm of improving the performance of iterative decoding on perpendicular magnetic recording is presented. This algorithm follows on the authors' previous works on the parallel and serial concatenated turbo codes and low-density…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
Positional encodings are employed to capture the high frequency information of the encoded signals in implicit neural representation (INR). In this paper, we propose a novel positional encoding method which improves the reconstruction…
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…
Rapid aerodynamic evaluation is crucial for modern vehicle design, yet existing neural operators struggle to capture intricate spatial correlations. We propose the rotary-enhanced transformer operator (RETO), a novel neural solver featuring…
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
We report on an all-optical magnetometric technique based on nonlinear magneto-optical rotation with amplitude-modulated light. The method enables sensitive magnetic-field measurements in a broad dynamic range. We demonstrate the…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
A prescription to calculate the minimum number of bits needed for binary strip detector readout is presented. This permits a systematic analysis of the readout efficiency relative to this theoretical minimum number of bits. Different level…