相关论文: A Reproducible and Physically Feasible Dynamic Par…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…
For model-based control, an accurate and in its complexity suitable representation of the real system is a decisive prerequisite for high and robust control quality. In a structured step-by-step procedure, a model predictive control (MPC)…
Bio-mechanical breast simulations are based on a gravity free geometry as a reference domain and a nonlinear mechanical model parameterised by physical coefficients. As opposed to complex models proposed in the literature based on medical…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
Automating a production line with robotic arms is a complex, demanding task that requires not only substantial resources but also a deep understanding of the automated processes and available technologies and tools. Expert integrators must…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Robotic arms require precise, task-aware trajectory planning, yet sequence models that ignore motion structure often yield invalid or inefficient executions. We present a Path-based Transformer that encodes robot motion with a 3-grid…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
Online signature parameters, which are based on human characteristics, broaden the applicability of an automatic signature verifier. Although kinematic and dynamic features have previously been suggested, accurately measuring features such…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
Due to the high dimensionality of object states, a garment flattening pipeline requires recognising the configurations of garments for a robot to produce/select manipulation plans to flatten garments. In this paper, we propose a…
This paper presents a novel theoretical framework for reducing the computational complexity of multi-model adaptive control/estimation systems through systematic transformation to controllable canonical form. While traditional multi-model…
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf…
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-art approaches, namely two differential pipelines and a…
Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…