相关论文: Simplifying ROS2 controllers with a modular archit…

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…

ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…

In this work, we present a test-driven, agentic framework for synthesizing a deployable low-level robot controller for navigation tasks. Given a 2D map with an image of an ultrasonic sensor-based robot, or a 3D robotic simulation…

Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…

Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still…

We present a model inspired by the Global Workspace Theory that integrates specialized modules to perform a sequential reasoning task. A controller selectively routes information between modules through the workspace using a gating…

The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…

The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…

Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…

Sequence-to-Sequence (S2S) neural text generation models, especially the pre-trained ones (e.g., BART and T5), have exhibited compelling performance on various natural language generation tasks. However, the black-box nature of these models…

We present a novel approach for the procedural construction of multi-step contact-rich manipulation tasks in robotics. Our generator takes as input user-defined sets of atomic actions, objects, and spatial predicates and outputs solvable…

Robots are often built from standardized assemblies, (e.g. arms, legs, or fingers), but each robot must be trained from scratch to control all the actuators of all the parts together. In this paper we demonstrate a new approach that takes a…

Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…

One of the key benefits of model predictive control is the capability of controlling a system proactively in the sense of taking the future system evolution into account. However, often external disturbances or references are not a priori…

Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to…

Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…

This study proposes a simple controller design approach to achieve a class of robustness, the so-called iso-damping property. The proposed approach can be executed using only one-shot input/output data. An accurate mathematical model of a…

This paper presents an upgraded, real world application oriented version of gym-gazebo, the Robot Operating System (ROS) and Gazebo based Reinforcement Learning (RL) toolkit, which complies with OpenAI Gym. The content discusses the new ROS…

Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous work, this paper presents an overarching framework for the…

In this paper a novel ROS2 driver for UR robot manipulators is presented, based on the ur_rtde C++ library. The proposed driver aims to be a flexible solution, adaptable to a wide range of applications. The driver exposes the high-level…