相关论文: Proprioceptive Shape Estimation of Tensegrity Mani…

Real-time tracking of inertia is important because it reflects the power system's ability to withstand contingencies and maintain frequency security. This paper proposes a practical approach to estimate inertia using ambient phasor…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…

Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

To enhance lifting-load estimation accuracy in industrial upper-limb assistive exoskeletons, this study proposes a machine learning-based approach using insole pressure sensors. Unlike traditional methods that rely on electromyography…

The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental…

Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…

Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the continuum dexterous manipulator (CDM) for tip position…

This paper presents a new method for jointly calibrating a magnetometer and inertial measurement unit (IMU), focusing on balancing calibration accuracy and computational efficiency. The proposed method is based on a maximum a posteriori…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…

Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where textureless surfaces, specular reflections, and…

The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…

We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…