相关论文: Optically Sensorized Electro-Ribbon Actuator (OS-E…

External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…

This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer…

Electronic skin, a class of wearable electronic sensors that mimic the functionalities of human skin, has made remarkable success in applications including health monitoring, human-machine interaction and electronic-biological interfaces.…

In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…

This paper addresses the challenge of achieving reliable and robust positioning of a mobile agent, such as a radio device carried by a person, in scenarios where direct line-of-sight (LOS) links are obstructed or unavailable. The human body…

Event-based sensors have recently drawn increasing interest in robotic perception due to their lower latency, higher dynamic range, and lower bandwidth requirements compared to standard CMOS-based imagers. These properties make them ideal…

Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…

Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…

An important monitoring task for power systems is accurate estimation of the system operation state. Under the nonlinear AC power flow model, the state estimation (SE) problem is inherently nonconvex giving rise to many local optima. In…

Odometry forms an important component of many manned and autonomous systems. In the rail industry in particular, having precise and robust odometry is crucial for the correct operation of the Automatic Train Protection systems that ensure…

Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control…

Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EIT-based tactile sensors face significant challenges during…

Radar sensors are emerging as solutions for perceiving surroundings and estimating ego-motion in extreme weather conditions. Unfortunately, radar measurements are noisy and suffer from mutual interference, which degrades the performance of…

Autonomous and Robotics Systems (ARSs) are widespread, complex, and increasingly coming into contact with the public. Many of these systems are safety-critical, and it is vital to detect software errors to protect against harm. We propose a…

This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…

In recent years, dynamic vision sensors (DVS), also known as event-based cameras or neuromorphic sensors, have seen increased use due to various advantages over conventional frame-based cameras. Using principles inspired by the retina, its…

Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…