相关论文: Compact Optical Single-axis Joint Torque Sensor Us…
The torsion pendulum is a prevailing instrument for measuring small forces acting on a solid body or those between solid bodies. While it offers powerful advantages, the measurement precision suffers from thermal noises of the suspending…
The significant optical and size benefits of using a curved focal surface for imaging systems have been well studied yet never brought to market for lack of a high-quality, mass-producible, curved image sensor. In this work we demonstrate…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…
This letter provides what is, to the best of our knowledge, a first study on the applicability of ultra-low-resolution thermal cameras for providing rotational odometry measurements to navigational devices such as rovers and drones. Our use…
Relaxation oscillator-based circuits are widely used for interfacing various resistive and capacitive sensors. The electrical equivalent of most resistive and capacitive sensors is represented using a parallel combination of resistor and…
The family of multi-plane phase retrieval sensors, such as the curvature and nonlinear curvature wavefront sensors (WFS), contain tip/tilt information embedded in their signals. We have built a nonlinear curvature WFS to study different…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
The construction of highly incoherent frames, sequences of vectors placed on the unit hyper sphere of a finite dimensional Hilbert space with low correlation between them, has proven very difficult. Algorithms proposed in the past have…
Vision-based tactile sensors encode object data via optical signals, capturing microscale deformations using elastomer through densely arranged optical imaging sensors to detect subtle data variations. To enable continuous contact…
Medical augmented reality has been actively studied for decades and many methods have been proposed torevolutionize clinical procedures. One example is the camera augmented mobile C-arm (CAMC), which providesa real-time video augmentation…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
Small compression noises, despite being transparent to human eyes, can adversely affect the results of many image restoration processes, if left unaccounted for. Especially, compression noises are highly detrimental to inverse operators of…
This paper introduces a novel underactuated geometric compliant (UGC) robot and investigates the behaviors of underactuated compliant modules with variable radial stiffness, aiming to enhance the versatility and functionality of UGC robots.…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
The random demodulator is a recent compressive sensing architecture providing efficient sub-Nyquist sampling of sparse band-limited signals. The compressive sensing paradigm requires an accurate model of the analog front-end to enable…