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Probabilistic TSDF Fusion Using Bayesian Deep Learning for Dense 3D Reconstruction with a Single RGB Camera | https://ieeexplore.ieee.org/document/9196663/ | [
"Hanjun Kim",
"Beomhee Lee",
"Hanjun Kim",
"Beomhee Lee"
] | In this paper, we address a 3D reconstruction problem using depth prediction from a single RGB image. With the recent advances in deep learning, depth prediction shows high performance. However, due to the discrepancy between training environment and test environment, 3D reconstruction can be vulnerable to the uncertainty of depth prediction. To consider the uncertainty of depth prediction for rob... |
IF-Net: An Illumination-invariant Feature Network | https://ieeexplore.ieee.org/document/9196893/ | [
"Po-Heng Chen",
"Zhao-Xu Luo",
"Zu-Kuan Huang",
"Chun Yang",
"Kuan-Wen Chen",
"Po-Heng Chen",
"Zhao-Xu Luo",
"Zu-Kuan Huang",
"Chun Yang",
"Kuan-Wen Chen"
] | Feature descriptor matching is a critical step is many computer vision applications such as image stitching, image retrieval and visual localization. However, it is often affected by many practical factors which will degrade its performance. Among these factors, illumination variations are the most influential one, and especially no previous descriptor learning works focus on dealing with this pro... |
Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction | https://ieeexplore.ieee.org/document/9196655/ | [
"Yaoyu Hu",
"Weikun Zhen",
"Sebastian Scherer",
"Yaoyu Hu",
"Weikun Zhen",
"Sebastian Scherer"
] | This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and non-learning ones, consume too much computational resource on high-resolution data. Recent learning-based methods achieve top ranks on most benchmarks. However, they suffer from the generalization issue due to lack of task... |
Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras | https://ieeexplore.ieee.org/document/9196755/ | [
"Levente Hajder",
"Daniel Barath",
"Levente Hajder",
"Daniel Barath"
] | A new closed-form solver is proposed minimizing the algebraic error optimally, in the least squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when a larger-than-minimal sample of point correspondences is given - thus, estimating the motion from at least three correspondences. The algorithm requires the ca... |
Relative planar motion for vehicle-mounted cameras from a single affine correspondence | https://ieeexplore.ieee.org/document/9197438/ | [
"Levente Hajder",
"Daniel Barath",
"Levente Hajder",
"Daniel Barath"
] | Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the ground. The algorithms do not assume other constraints, e.g. the non-holonomic one, to hold. A new minimal solver is proposed for the semi-calibrated case, i.e... |
Moving object detection for visual odometry in a dynamic environment based on occlusion accumulation | https://ieeexplore.ieee.org/document/9196767/ | [
"Haram Kim",
"Pyojin Kim",
"H. Jin Kim",
"Haram Kim",
"Pyojin Kim",
"H. Jin Kim"
] | Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGBD data is often readily available, utilization of the depth information would be beneficial for obstacle recognition. Here, we propose a simple moving object detection algori... |
A Low-Rank Matrix Approximation Approach to Multiway Matching with Applications in Multi-Sensory Data Association | https://ieeexplore.ieee.org/document/9196583/ | [
"Spyridon Leonardos",
"Xiaowei Zhou",
"Kostas Daniilidis",
"Spyridon Leonardos",
"Xiaowei Zhou",
"Kostas Daniilidis"
] | Consider the case of multiple visual sensors perceiving the same scene from different viewpoints. In order to achieve consistent visual perception, the problem of data association, in this case establishing correspondences between observed features, must be first solved. In this work, we consider multiway matching which is a specific instance of multi-sensory data association. Multiway matching re... |
A Parametric Grasping Methodology for Multi-Manual Interactions in Real-Time Dynamic Simulations | https://ieeexplore.ieee.org/document/9197099/ | [
"Adnan Munawar",
"Nishan Srishankar",
"Loris Fichera",
"Gregory S. Fischer",
"Adnan Munawar",
"Nishan Srishankar",
"Loris Fichera",
"Gregory S. Fischer"
] | Interactive simulators are used in several important applications which include the training simulators for teleoperated robotic laparoscopic surgery. While stateof-art simulators are capable of rendering realistic visuals and accurate dynamics, grasping is often implemented using kinematic simplification techniques that prevent truly multimanual manipulation, which is often an important requireme... |
A methodology for the incorporation of arbitrarily-shaped feet in passive bipedal walking dynamics | https://ieeexplore.ieee.org/document/9196617/ | [
"Aikaterini Smyrli",
"Evangelos Papadopoulos",
"Aikaterini Smyrli",
"Evangelos Papadopoulos"
] | A methodology for implementing arbitrary foot shapes in the passive walking dynamics of biped robots is developed. The dynamic model of a walking robot is defined in a way that allows shape-dependent foot kinetics to contribute to the robot's dynamics, for all convex foot shapes regardless of the exact foot geometry: for the developed method, only the set of points describing the foot profile curv... |
Experimental Analysis of Structural Vibration Problems of a Biped Walking Robot | https://ieeexplore.ieee.org/document/9197282/ | [
"Tobias F. C. Berninger",
"Felix Sygulla",
"Sebastian Fuderer",
"Daniel J. Rixen",
"Tobias F. C. Berninger",
"Felix Sygulla",
"Sebastian Fuderer",
"Daniel J. Rixen"
] | Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA's mechanical structure. In this work, we present small examples how structural dynamics limit our control design for walking control as well as low level position control of the joints. We al... |
Dynamic Coupling as an Indicator of Gait Robustness for Underactuated Biped Robots | https://ieeexplore.ieee.org/document/9197203/ | [
"Martin Fevre",
"James P. Schmiedeler",
"Martin Fevre",
"James P. Schmiedeler"
] | This paper employs velocity decomposition of underactuated mechanical systems to determine the degree of dynamic coupling in the gaits of a two-link biped model. The degree of coupling between controlled and uncontrolled directions quantifies the control authority the system has over its unactuated degree of freedom. This paper shows that the amount of coupling is directly correlated to gait robus... |
ZMP Constraint Restriction for Robust Gait Generation in Humanoids | https://ieeexplore.ieee.org/document/9197171/ | [
"Filippo M. Smaldone",
"Nicola Scianca",
"Valerio Modugno",
"Leonardo Lanari",
"Giuseppe Oriolo",
"Filippo M. Smaldone",
"Nicola Scianca",
"Valerio Modugno",
"Leonardo Lanari",
"Giuseppe Oriolo"
] | We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, but whose current value is assumed to be available. The method consists in modifying the stability co... |
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning | https://ieeexplore.ieee.org/document/9197175/ | [
"Guillermo A. Castillo",
"Bowen Weng",
"Wei Zhang",
"Ayonga Hereid",
"Guillermo A. Castillo",
"Bowen Weng",
"Wei Zhang",
"Ayonga Hereid"
] | This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in an end-to-end manner or rely on prior knowledge of some reference joint trajectories. Different from these studies, we propose a novel policy structure that appropriately incorporates physical insights gained from the h... |
Optimal Reduced-order Modeling of Bipedal Locomotion | https://ieeexplore.ieee.org/document/9197004/ | [
"Yu-Ming Chen",
"Michael Posa",
"Yu-Ming Chen",
"Michael Posa"
] | State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), popular because their simplicity enables a wide array of tools for planning, control, and analysis. However, they inevitably limit the ability to execute complex tasks or agile maneuvers. In this work, we aim to automatic... |
CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks | https://ieeexplore.ieee.org/document/9197270/ | [
"Benjamin Ramtoula",
"Ricardo de Azambuja",
"Giovanni Beltrame",
"Benjamin Ramtoula",
"Ricardo de Azambuja",
"Giovanni Beltrame"
] | Using multiple robots for exploring and mapping environments can provide improved robustness and performance, but it can be difficult to implement. In particular, limited communication bandwidth is a considerable constraint when a robot needs to determine if it has visited a location that was previously explored by another robot, as it requires for robots to share descriptions of places they have ... |
Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees | https://ieeexplore.ieee.org/document/9197195/ | [
"Arjav Desai",
"Nathan Michael",
"Arjav Desai",
"Nathan Michael"
] | We consider the kinodynamic multi-robot planning problem in cluttered 3-D workspaces. Reachability analysis on position invariant geometric trees is leveraged to find kino- dynamically feasible trajectories for the multi-robot team from potentially non-stationary initial states. The key contribution of our approach is that a collision-free geometric solution guarantees a kinodynamically feasible, ... |
Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm | https://ieeexplore.ieee.org/document/9196944/ | [
"Hao Xu",
"Luqi Wang",
"Yichen Zhang",
"Kejie Qiu",
"Shaojie Shen",
"Hao Xu",
"Luqi Wang",
"Yichen Zhang",
"Kejie Qiu",
"Shaojie Shen"
] | The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which still lacks a state-of-art decentralized relative state estimation method. In this paper, we present a novel fully decentralized visual-inertial-UWB fusion fra... |
DC-CAPT: Concurrent Assignment and Planning of Trajectories for Dubins Cars | https://ieeexplore.ieee.org/document/9196799/ | [
"Michael Whitzer",
"Daigo Shishika",
"Dinesh Thakur",
"Vijay Kumar",
"Amanda Prorok",
"Michael Whitzer",
"Daigo Shishika",
"Dinesh Thakur",
"Vijay Kumar",
"Amanda Prorok"
] | We present an algorithm for the concurrent assignment and planning of collision-free trajectories (DC-CAPT) for robots whose kinematics can be modeled as Dubins cars, i.e., robots constrained in terms of their initial orientation and their minimum turning radius. Coupling the assignment and trajectory planning subproblems allows for a computationally tractable solution. This solution is guaranteed... |
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC | https://ieeexplore.ieee.org/document/9197012/ | [
"Manuel Beglini",
"Leonardo Lanari",
"Giuseppe Oriolo",
"Manuel Beglini",
"Leonardo Lanari",
"Giuseppe Oriolo"
] | It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backwards motion, in which jackknifing can also occur at low speeds, we present a control method that drives the vehicle along a reference Cartesian trajectory while avoiding the diver... |
On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor | https://ieeexplore.ieee.org/document/9197346/ | [
"Oskar Ljungqvist",
"Daniel Axehill",
"Henrik Pettersson",
"Oskar Ljungqvist",
"Daniel Axehill",
"Henrik Pettersson"
] | The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's structurally unstable joint-angle kinematics in backward motion and the car-like tractor's curvature limitations which can cause the vehicle segments to... |
Offline Practising and Runtime Training Framework for Autonomous Motion Control of Snake Robots | https://ieeexplore.ieee.org/document/9196637/ | [
"Long Cheng",
"Jianping Huang",
"Linlin Liu",
"Zhiyong Jian",
"Yuhong Huang",
"Kai Huang",
"Long Cheng",
"Jianping Huang",
"Linlin Liu",
"Zhiyong Jian",
"Yuhong Huang",
"Kai Huang"
] | This paper proposes an offline and runtime combined framework for the autonomous motion of snake robots. With the dynamic feedback of its state during runtime, the robot utilizes the linear regression to update its control parameters for better performance and thus adaptively reacts to the environment. To reduce interference from infeasible samples and improve efficiency, the data set for runtime ... |
Control of a differentially driven nonholonomic robot subject to a restricted wheels rotation | https://ieeexplore.ieee.org/document/9196519/ | [
"Dariusz Pazderski",
"Krzysztof Kozłowski",
"Dariusz Pazderski",
"Krzysztof Kozłowski"
] | The paper deals with non-standard motion tasks specified for a two-wheeled nonholonomic robot. It is assumed that wheels cannot fully rotate which reduces a set of feasible movements significantly. In spite of these constraints, it is expected that position of the robot can be changed without violating nonholonomic constraints. Such a possibility comes from the small time local controllability (ST... |
Inferring Task-Space Central Pattern Generator Parameters for Closed-loop Control of Underactuated Robots | https://ieeexplore.ieee.org/document/9196957/ | [
"Nathan D. Kent",
"Raunaq M. Bhirangi",
"Matthew Travers",
"Thomas M. Howard",
"Nathan D. Kent",
"Raunaq M. Bhirangi",
"Matthew Travers",
"Thomas M. Howard"
] | The complexity associated with the control of highly-articulated legged robots scales quickly as the number of joints increases. Traditional approaches to the control of these robots are often impractical for many real-time applications. This work thus presents a novel sampling-based planning approach for highly-articulated robots that utilizes a probabilistic graphical model (PGM) to infer in rea... |
In-Hand Manipulation of Objects with Unknown Shapes | https://ieeexplore.ieee.org/document/9197273/ | [
"Silvia Cruciani",
"Hang Yin",
"Danica Kragic",
"Silvia Cruciani",
"Hang Yin",
"Danica Kragic"
] | This work addresses the problem of changing grasp configurations on objects with an unknown shape through in-hand manipulation. Our approach leverages shape priors, learned as deep generative models, to infer novel object shapes from partial visual sensing. The Dexterous Manipulation Graph method is extended to build incrementally and account for object shape uncertainty when planning a sequence o... |
Learning Hierarchical Control for Robust In-Hand Manipulation | https://ieeexplore.ieee.org/document/9197343/ | [
"Tingguang Li",
"Krishnan Srinivasan",
"Max Qing-Hu Meng",
"Wenzhen Yuan",
"Jeannette Bohg",
"Tingguang Li",
"Krishnan Srinivasan",
"Max Qing-Hu Meng",
"Wenzhen Yuan",
"Jeannette Bohg"
] | Robotic in-hand manipulation has been a longstanding challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of prior work has either focused on model-based, low-level controllers or on model-free deep reinforcement learning that each have their own limitations. We propos... |
Tactile Dexterity: Manipulation Primitives with Tactile Feedback | https://ieeexplore.ieee.org/document/9196976/ | [
"Francois R. Hogan",
"Jose Ballester",
"Siyuan Dong",
"Alberto Rodriguez",
"Francois R. Hogan",
"Jose Ballester",
"Siyuan Dong",
"Alberto Rodriguez"
] | This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control. We divide the role of tactile control into two goals: 1) control the contact state between the end-effector and the objec... |
Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation | https://ieeexplore.ieee.org/document/9197146/ | [
"Shenli Yuan",
"Austin D. Epps",
"Jerome B. Nowak",
"J. Kenneth Salisbury",
"Shenli Yuan",
"Austin D. Epps",
"Jerome B. Nowak",
"J. Kenneth Salisbury"
] | This paper describes the development of a novel non-anthropomorphic robot hand with the ability to manipulate objects by means of articulated, actively driven rollers located at the fingertips. An analysis is conducted and systems of equations for two-finger and three-finger manipulation of a sphere are formulated to demonstrate full six degree of freedom nonholonomic spatial motion capability. A ... |
High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study | https://ieeexplore.ieee.org/document/9197454/ | [
"Frederic Monet",
"Shahriar Sefati",
"Pierre Lorre",
"Arthur Poiffaut",
"Samuel Kadoury",
"Mehran Armand",
"Iulian Iordachita",
"Raman Kashyap",
"Frederic Monet",
"Shahriar Sefati",
"Pierre Lorre",
"Arthur Poiffaut",
"Samuel Kadoury",
"Mehran Armand",
"Iulian Iordachita",
"Raman Kashyap"
] | Flexible medical instruments, such as Continuum Dexterous Manipulators (CDM), constitute an important class of tools for minimally invasive surgery. Accurate CDM shape reconstruction during surgery is of great importance, yet a challenging task. Fiber Bragg grating (FBG) sensors have demonstrated great potential in shape sensing and consequently tip position estimation of CDMs. However, due to the... |
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations | https://ieeexplore.ieee.org/document/9196824/ | [
"Weiqiao Han",
"Russ Tedrake",
"Weiqiao Han",
"Russ Tedrake"
] | We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use trajectory optimization to find a feasible trajectory. Next, we characterize the local multi-contact dynamics around the trajectory as a piecewise affine syste... |
Monocular Direct Sparse Localization in a Prior 3D Surfel Map | https://ieeexplore.ieee.org/document/9197022/ | [
"Haoyang Ye",
"Huaiyang Huang",
"Ming Liu",
"Haoyang Ye",
"Huaiyang Huang",
"Ming Liu"
] | In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the image frame is obtained. The tracked points with and without the global planar information involve both global and local constraints of frames to the system. Our ap... |
LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation | https://ieeexplore.ieee.org/document/9197567/ | [
"Chao Qin",
"Haoyang Ye",
"Christian E. Pranata",
"Jun Han",
"Shuyang Zhang",
"Ming Liu",
"Chao Qin",
"Haoyang Ye",
"Christian E. Pranata",
"Jun Han",
"Shuyang Zhang",
"Ming Liu"
] | We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes, via fusing a 6-axis IMU and a 3D lidar in a tightly-coupled scheme. An iterated error-state Kalman filter (ESKF) is designed to correct the estimated state recurs... |
Automated Eye-in-Hand Robot-3D Scanner Calibration for Low Stitching Errors | https://ieeexplore.ieee.org/document/9196748/ | [
"Harikrishnan Madhusudanan",
"Xingjian Liu",
"Wenyuan Chen",
"Dahai Li",
"Linghao Du",
"Jianfeng Li",
"Ji Ge",
"Yu Sun",
"Harikrishnan Madhusudanan",
"Xingjian Liu",
"Wenyuan Chen",
"Dahai Li",
"Linghao Du",
"Jianfeng Li",
"Ji Ge",
"Yu Sun"
] | A 3D measurement system consisting of a 3D scanner and an industrial robot (eye-in-hand) is commonly used to scan large object under test (OUT) from multiple fieldof-views (FOVs) for complete measurement. A data stitching process is required to align multiple FOVs into a single coordinate system. Marker-free stitching assisted by robot’s accurate positioning becomes increasingly attractive since i... |
Monocular Visual Odometry using Learned Repeatability and Description | https://ieeexplore.ieee.org/document/9197406/ | [
"Huaiyang Huang",
"Haoyang Ye",
"Yuxiang Sun",
"Ming Liu",
"Huaiyang Huang",
"Haoyang Ye",
"Yuxiang Sun",
"Ming Liu"
] | Robustness and accuracy for monocular visual odometry (VO) under challenging environments are widely concerned. In this paper, we present a monocular VO system leveraging learned repeatability and description. In a hybrid scheme, the camera pose is initially tracked on the predicted repeatability maps in a direct manner and then refined with the patch-wise 3D-2D association. The local feature para... |
Interaction Graphs for Object Importance Estimation in On-road Driving Videos | https://ieeexplore.ieee.org/document/9197104/ | [
"Zehua Zhang",
"Ashish Tawari",
"Sujitha Martin",
"David Crandall",
"Zehua Zhang",
"Ashish Tawari",
"Sujitha Martin",
"David Crandall"
] | A vehicle driving along the road is surrounded by many objects, but only a small subset of them influence the driver's decisions and actions. Learning to estimate the importance of each object on the driver's real-time decision-making may help better understand human driving behavior and lead to more reliable autonomous driving systems. Solving this problem requires models that understand the inte... |
A Robotics Inspection System for Detecting Defects on Semi-specular Painted Automotive Surfaces | https://ieeexplore.ieee.org/document/9196980/ | [
"Sohail Akhtar",
"Adarsh Tandiya",
"Medhat Moussa",
"Cole Tarry",
"Sohail Akhtar",
"Adarsh Tandiya",
"Medhat Moussa",
"Cole Tarry"
] | This paper describes the design and implementation of a real-time robotics system for semi-specular/painted surface defect detection. The system can be used on moving parts, tolerate varying lighting conditions, and can accommodate small inherent vibrations of the inspected surface that is common in manufacturing operations. Topographical information of the inspected surface is first obtained by t... |
A Novel Underactuated End-Effector for Planar Sequential Grasping of Multiple Objects | https://ieeexplore.ieee.org/document/9197380/ | [
"Caio Mucchiani",
"Mark Yim",
"Caio Mucchiani",
"Mark Yim"
] | We propose a serpentine type tendon driven underactuated end-effector design with a closing mechanism that is triggered upon contact with an object. This end-effector can grasp objects without knowing the size a priori and is able to grasp a new object while securing another one previously grasped, and so grasp multiple objects sequentially with a single DOF actuation. Design parameters based on t... |
Design and Analysis of a Synergy-Inspired Three-Fingered Hand | https://ieeexplore.ieee.org/document/9196901/ | [
"Wenrui Chen",
"Zhilan Xiao",
"Jingwen Lu",
"Zilong Zhao",
"Yaonan Wang",
"Wenrui Chen",
"Zhilan Xiao",
"Jingwen Lu",
"Zilong Zhao",
"Yaonan Wang"
] | Hand synergy from neuroscience provides an effective tool for anthropomorphic hands to realize versatile grasping with simple planning and control. This paper aims to extend the synergy-inspired design from anthropomorphic hands to multi-fingered robot hands. The synergy-inspired hands are not necessarily humanoid in morphology but perform primary characteristics and functions similar to the human... |
Multiplexed Manipulation: Versatile Multimodal Grasping via a Hybrid Soft Gripper | https://ieeexplore.ieee.org/document/9196626/ | [
"Lillian Chin",
"Felipe Barscevicius",
"Jeffrey Lipton",
"Daniela Rus",
"Lillian Chin",
"Felipe Barscevicius",
"Jeffrey Lipton",
"Daniela Rus"
] | The success of hybrid suction + parallel-jaw grippers in the Amazon Robotics/Picking Challenge have demonstrated the effectiveness of multimodal grasping approaches. However, existing multimodal grippers combine grasping modes in isolation and do not incorporate the benefits of compliance found in soft robotic manipulators. In this paper, we present a gripper that integrates three modes of graspin... |
Underactuated Gecko Adhesive Gripper for Simple and Versatile Grasp | https://ieeexplore.ieee.org/document/9196806/ | [
"Daichi Hirano",
"Nobutaka Tanishima",
"Andrew Bylard",
"Tony G. Chen",
"Daichi Hirano",
"Nobutaka Tanishima",
"Andrew Bylard",
"Tony G. Chen"
] | Gecko-inspired adhesives have several desirable characteristics in robotic grasping: controllable activation and deactivation of adhesion, ability to grasp and release with minimal disturbance, and grasping without the need of form closure. Previously proposed grippers with this technology either require a complex activation mechanism or multiple activation steps. In this paper, we present an unde... |
Active Deformation through Visual Servoing of Soft Objects | https://ieeexplore.ieee.org/document/9197506/ | [
"Romain Lagneau",
"Alexandre Krupa",
"Maud Marchal",
"Romain Lagneau",
"Alexandre Krupa",
"Maud Marchal"
] | In this paper, we propose the ADVISEd (Active Deformation through VIsual SErvoing) method, a novel model-free deformation servoing method able to deform a soft object towards a desired shape. ADVISEd relies on an online estimation of the deformation Jacobian that relates the motion of the robot end-effector to the deformation behavior of the object. The estimation is based on a weighted least-squa... |
Visual Geometric Skill Inference by Watching Human Demonstration | https://ieeexplore.ieee.org/document/9196570/ | [
"Jun Jin",
"Laura Petrich",
"Zichen Zhang",
"Masood Dehghan",
"Martin Jagersand",
"Jun Jin",
"Laura Petrich",
"Zichen Zhang",
"Masood Dehghan",
"Martin Jagersand"
] | We study the problem of learning manipulation skills from human demonstration video by inferring the association relationships between geometric features. Motivation for this work stems from the observation that humans perform eye-hand coordination tasks by using geometric primitives to define a task while a geometric control error drives the task through execution. We propose a graph based kernel... |
DFVS: Deep Flow Guided Scene Agnostic Image Based Visual Servoing | https://ieeexplore.ieee.org/document/9196753/ | [
"Y V S Harish",
"Harit Pandya",
"Ayush Gaud",
"Shreya Terupally",
"Sai Shankar",
"K. Madhava Krishna",
"Y V S Harish",
"Harit Pandya",
"Ayush Gaud",
"Shreya Terupally",
"Sai Shankar",
"K. Madhava Krishna"
] | Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene. Furthermore, current approaches do not consider underlying geometry of the scene and rely on direct estimation of camera pose. Thus, inaccuracies in prediction of the came... |
Photometric Path Planning for Vision-Based Navigation | https://ieeexplore.ieee.org/document/9197091/ | [
"Eder Alejandro Rodríguez Martínez",
"Guillaume Caron",
"Claude Pégard",
"David Lara Alabazares",
"Eder Alejandro Rodríguez Martínez",
"Guillaume Caron",
"Claude Pégard",
"David Lara Alabazares"
] | We present a vision-based navigation system that uses a visual memory to navigate. Such memory corresponds to a topological map of key images created from moving a virtual camera over a model of the real scene. The advantage of our approach is that it provides a useful insight into the navigability of a visual path without relying on a traditional learning stage. During the navigation stage, the r... |
A memory of motion for visual predictive control tasks | https://ieeexplore.ieee.org/document/9197216/ | [
"Antonio Paolillo",
"Teguh Santoso Lembono",
"Sylvain Calinon",
"Antonio Paolillo",
"Teguh Santoso Lembono",
"Sylvain Calinon"
] | This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult visual tasks. Standard regression techniques, such as k-nearest neighbors and Gaussian process regression, are used to query the memory and provide on-line a warm... |
Design and Workspace Characterisation of Malleable Robots | https://ieeexplore.ieee.org/document/9197439/ | [
"Angus B. Clark",
"Nicolas Rojas",
"Angus B. Clark",
"Nicolas Rojas"
] | For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom, further dexterity of robot arms for multiple tasks can be achieved. Instead of increasing the number of joints of a robot to improve flexibility and adaptation, which... |
A Tri-Stable Soft Robotic Finger Capable of Pinch and Wrap Grasps | https://ieeexplore.ieee.org/document/9196818/ | [
"Aaron K. Nguyen",
"Alexander Russell",
"Nicholas Naclerio",
"Vu Vuong",
"Heming Huang",
"Kenny Chui",
"Elliot W. Hawkes",
"Aaron K. Nguyen",
"Alexander Russell",
"Nicholas Naclerio",
"Vu Vuong",
"Heming Huang",
"Kenny Chui",
"Elliot W. Hawkes"
] | Soft robotic pneumatic grippers have been shown to be versatile, robust to impacts, and safe for use on delicate objects. One type, fluidic elastomer grippers, are characterized by fingers with an inextensible gripping surface backed by extensible pneumatic chambers; when inflated, this mismatch in extensibility results in the finger curling. However, one drawback of these simple fingers is that t... |
A Dexterous Tip-extending Robot with Variable-length Shape-locking | https://ieeexplore.ieee.org/document/9197311/ | [
"Sicheng Wang",
"Ruotong Zhang",
"David A. Haggerty",
"Nicholas D. Naclerio",
"Elliot W. Hawkes",
"Sicheng Wang",
"Ruotong Zhang",
"David A. Haggerty",
"Nicholas D. Naclerio",
"Elliot W. Hawkes"
] | Soft, tip-extending "vine" robots offer a unique mode of inspection and manipulation in highly constrained environments. For practicality, it is desirable that the distal end of the robot can be manipulated freely, while the body remains stationary. However, in previous vine robots, either the shape of the body was fixed after growth with no ability to manipulate the distal end, or the whole body ... |
Compliant Electromagnetic Actuator Architecture for Soft Robotics | https://ieeexplore.ieee.org/document/9197442/ | [
"Noah Kohls",
"Beatriz Dias",
"Yaw Mensah",
"Bryan P. Ruddy",
"Yi Chen Mazumdar",
"Noah Kohls",
"Beatriz Dias",
"Yaw Mensah",
"Bryan P. Ruddy",
"Yi Chen Mazumdar"
] | Soft materials and compliant actuation concepts have generated new design and control approaches in areas from robotics to wearable devices. Despite the potential of soft robotic systems, most designs currently use hard pumps, valves, and electromagnetic actuators. In this work, we take a step towards fully soft robots by developing a new compliant electromagnetic actuator architecture using galli... |
Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots | https://ieeexplore.ieee.org/document/9197237/ | [
"Brian H. Do",
"Valory Banashek",
"Allison M. Okamura",
"Brian H. Do",
"Valory Banashek",
"Allison M. Okamura"
] | Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely tight local curvature at difficult-to-control buckle point locations. In this paper, we present an inflated beam robot that uses distributed stiffness changing ... |
Data-Driven Reinforcement Learning for Walking Assistance Control of a Lower Limb Exoskeleton with Hemiplegic Patients | https://ieeexplore.ieee.org/document/9197229/ | [
"Zhinan Peng",
"Rui Luo",
"Rui Huang",
"Jiangping Hu",
"Kecheng Shi",
"Hong Cheng",
"Bijoy Kumar Ghosh",
"Zhinan Peng",
"Rui Luo",
"Rui Huang",
"Jiangping Hu",
"Kecheng Shi",
"Hong Cheng",
"Bijoy Kumar Ghosh"
] | Lower limb exoskeleton (LLE) has received considerable interests in strength augmentation, rehabilitation and walking assistance scenarios. For walking assistance, the LLE is expected to have the capability of controlling the affected leg to track the unaffected leg’s motion naturally. An important issue in this scenario is that the exoskeleton system needs to deal with unpredictable disturbance f... |
On the Effects of Visual Anticipation of Floor Compliance Changes on Human Gait: Towards Model-based Robot-Assisted Rehabilitation | https://ieeexplore.ieee.org/document/9197536/ | [
"Michael Drolet",
"Emiliano Quinones Yumbla",
"Bradley Hobbs",
"Panagiotis Artemiadis",
"Michael Drolet",
"Emiliano Quinones Yumbla",
"Bradley Hobbs",
"Panagiotis Artemiadis"
] | The role of various types of robot assistance in post-stroke gait rehabilitation has gained much attention in recent years. Furthermore, there is increased popularity to use more than one rehabilitation method in order to utilize the different advantages of each. Naturally, this results in the need to study how the different robot-assisted interventions affect the various underlying sensorimotor m... |
A Visual Positioning System for Indoor Blind Navigation | https://ieeexplore.ieee.org/document/9196782/ | [
"He Zhang",
"Cang Ye",
"He Zhang",
"Cang Ye"
] | This paper presents a visual positioning system (VPS) for real-time pose estimation of a robotic navigation aid (RNA) for assistive navigation. The core of the VPS is a new method called depth-enhanced visual-inertial odometry (DVIO) that uses an RGB-D camera and an inertial measurement unit (IMU) to estimate the RNA's pose. The DVIO method extracts the geometric feature (the floor plane) from the... |
An Outsole-Embedded Optoelectronic Sensor to Measure Shear Ground Reaction Forces During Locomotion | https://ieeexplore.ieee.org/document/9196962/ | [
"Ton T. H. Duong",
"David R. Whittaker",
"Damiano Zanotto",
"Ton T. H. Duong",
"David R. Whittaker",
"Damiano Zanotto"
] | Online estimation of 3D ground reaction forces (GRFs) is becoming increasingly important for closed-loop control of lower-extremity robotic exoskeletons. Through in-verse dynamics and optimization models, 3D GRFs can be used to estimate net joint torques and approximate muscle forces. Although instrumented footwear to measure vertical GRFs in out-of-the-lab environments is available, accurately me... |
Bump’em: an Open-Source, Bump-Emulation System for Studying Human Balance and Gait | https://ieeexplore.ieee.org/document/9197105/ | [
"Guan Rong Tan",
"Michael Raitor",
"Steven H. Collins",
"Guan Rong Tan",
"Michael Raitor",
"Steven H. Collins"
] | Fall-related injury is a significant health problem on a global scale and is expected to grow with the aging population. Laboratory-based perturbation systems have the capability of simulating various modes of fall-inducing perturbations in a repeatable way. These systems enable fundamental research on human gait and balance and facilitate the development of devices to assist human balance. We pre... |
A Hybrid, Soft Exoskeleton Glove Equipped with a Telescopic Extra Thumb and Abduction Capabilities | https://ieeexplore.ieee.org/document/9197473/ | [
"Lucas Gerez",
"Anany Dwivedi",
"Minas Liarokapis",
"Lucas Gerez",
"Anany Dwivedi",
"Minas Liarokapis"
] | Over the last years, hand exoskeletons have become a popular and efficient technical solution for assisting people that suffer from neurological and musculoskeletal diseases and enhance the capabilities of healthy individuals. These devices can vary from rigid and complex structures to soft, lightweight, wearable gloves. Despite the significant progress in the field, most existing solutions do not... |
Controlling an upper-limb exoskeleton by EMG signal while carrying unknown load | https://ieeexplore.ieee.org/document/9197087/ | [
"Benjamin Treussart",
"Franck Geffard",
"Nicolas Vignais",
"Frederic Marin",
"Benjamin Treussart",
"Franck Geffard",
"Nicolas Vignais",
"Frederic Marin"
] | Implementing an intuitive control law for an upper-limb exoskeleton dedicated to force augmentation is a challenging issue in the field of human-robot collaboration. The aim of this study is to design an innovative approach to assist carrying an unknown load without using force sensors or specific handle. The method is based on user's intentions estimated through a wireless EMG armband allowing mo... |
Learning Grasping Points for Garment Manipulation in Robot-Assisted Dressing | https://ieeexplore.ieee.org/document/9196994/ | [
"Fan Zhang",
"Yiannis Demiris",
"Fan Zhang",
"Yiannis Demiris"
] | Assistive robots have the potential to provide tremendous support for disabled and elderly people in their daily dressing activities. Recent studies on robot-assisted dressing usually simplify the setup of the initial robot configuration by manually attaching the garments on the robot end-effector and positioning them close to the user's arm. A fundamental challenge in automating such a process fo... |
TACTO-Selector: Enhanced Hierarchical Fusion of PBVS with Reactive Skin Control for Physical Human-Robot Interaction | https://ieeexplore.ieee.org/document/9196979/ | [
"Ana Elvira H. Martin",
"Emmanuel Dean-Leon",
"Gordon Cheng",
"Ana Elvira H. Martin",
"Emmanuel Dean-Leon",
"Gordon Cheng"
] | In a physical Human-Robot Interaction for industrial scenarios is paramount to guarantee the safety of the user while keeping the robot's performance. Hierarchical task approaches are not sufficient since they tend to sacrifice the low priority tasks in order to guarantee the consistency of the main task. To handle this problem, we enhance the standard hierarchical fusion by introducing a novel in... |
Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing | https://ieeexplore.ieee.org/document/9196850/ | [
"Edoardo Lamon",
"Mattia Leonori",
"Wansoo Kim",
"Arash Ajoudani",
"Edoardo Lamon",
"Mattia Leonori",
"Wansoo Kim",
"Arash Ajoudani"
] | In this paper, a novel human-robot collaborative framework for mixed case palletizing is presented. The framework addresses several challenges associated with the detection and localisation of boxes and pallets through visual perception algorithms, high-level optimisation of the collaborative effort through effective role-allocation principles, and maximisation of packing density. A graphical user... |
Treadmill Based Three Tether Parallel Robot for Evaluating Auditory Warnings While Running | https://ieeexplore.ieee.org/document/9196600/ | [
"Nathaniel G. Luttmer",
"Takara E Truong",
"Alicia M. Boynton",
"David Carrier",
"Mark A. Minor",
"Nathaniel G. Luttmer",
"Takara E Truong",
"Alicia M. Boynton",
"David Carrier",
"Mark A. Minor"
] | We design and test a 3 DoF parallel cable system capable of applying precise and accurate impulses to walking and running subjects for the University of Utah's Treadport Active Wind Tunnel (TPAWT). Using Nexus VICON motion capture and gait algorithms, perturbations can be applied at different points in the subject's gait. The use of a PID force controller allow the system to create omnidirectional... |
Evaluation of Human-Robot Object Co-manipulation Under Robot Impedance Control | https://ieeexplore.ieee.org/document/9197329/ | [
"Martin Mujica",
"Mourad Benoussaad",
"Jean-Yves Fourquet",
"Martin Mujica",
"Mourad Benoussaad",
"Jean-Yves Fourquet"
] | The human-robot collaboration is a promising and challenging field of robotics research. One of the main collaboration tasks is the object co-manipulation where the human and robot are in a continuous physical interaction and forces exerted must be handled. This involves some issues known in robotics as physical Human-Robot Interaction (pHRI), where human safety and interaction comfort are require... |
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator | https://ieeexplore.ieee.org/document/9197028/ | [
"Andre Coelho",
"Harsimran Singh",
"Konstantin Kondak",
"Christian Ott",
"Andre Coelho",
"Harsimran Singh",
"Konstantin Kondak",
"Christian Ott"
] | Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of perception and cognition, bilateral teleoperation arises as a reasonable solution. However, since most telemanipulation tasks require visual feedback in addition to t... |
Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping | https://ieeexplore.ieee.org/document/9197220/ | [
"Tsung-Chi Lin",
"Achyuthan Unni Krishnan",
"Zhi Li",
"Tsung-Chi Lin",
"Achyuthan Unni Krishnan",
"Zhi Li"
] | Motion mapping is an intuitive method of teleoperation with a low learning curve. Our previous study investigates the physical fatigue caused by teleoperating a robot to perform general-purpose assistive tasks and this fatigue affects the operator's performance. The results from that study indicate that physical fatigue happens more in the tasks which involve more precise manipulation and steady p... |
DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System | https://ieeexplore.ieee.org/document/9197124/ | [
"Ankur Handa",
"Karl Van Wyk",
"Wei Yang",
"Jacky Liang",
"Yu-Wei Chao",
"Qian Wan",
"Stan Birchfield",
"Nathan Ratliff",
"Dieter Fox",
"Ankur Handa",
"Karl Van Wyk",
"Wei Yang",
"Jacky Liang",
"Yu-Wei Chao",
"Qian Wan",
"Stan Birchfield",
"Nathan Ratliff",
"Dieter Fox"
] | Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually offer reduced degrees of control. Herein, a low-cost, depth-based teleoperation system, DexPilot,... |
Distributed Winner-Take-All Teleoperation of A Multi-Robot System | https://ieeexplore.ieee.org/document/9197535/ | [
"Yuan Yang",
"Daniela Constantinescu",
"Yang Shi",
"Yuan Yang",
"Daniela Constantinescu",
"Yang Shi"
] | In a distributed multi-master-multi-slave teleoperation system, the human users may compete against each other for the control of the team of slave robots. To win the competition, one operator would send the largest command to the slave group. For the sake of team cohesion, the slave group should follow the command of the winning operator and ignore the commands of the other users. To enable (i) t... |
Enhanced Teleoperation Using Autocomplete | https://ieeexplore.ieee.org/document/9197140/ | [
"Mohammad Kassem Zein",
"Abbas Sidaoui",
"Daniel Asmar",
"Imad H. Elhajj",
"Mohammad Kassem Zein",
"Abbas Sidaoui",
"Daniel Asmar",
"Imad H. Elhajj"
] | Controlling and manning robots from a remote location is difficult because of the limitations one faces in perception and available degrees of actuation. Although humans can become skilled teleoperators, the amount of training time required to acquire such skills is typically very high. In this paper, we propose a novel solution (named Autocomplete) to aid novice teleoperators in manning robots ad... |
Contact-based Bounding Volume Hierarchy for Assembly Tasks | https://ieeexplore.ieee.org/document/9196573/ | [
"Evan Shellshear",
"Yi Li",
"Robert Bohlin",
"Johan S. Carlson",
"Evan Shellshear",
"Yi Li",
"Robert Bohlin",
"Johan S. Carlson"
] | Path planning of an object which is allowed to be in contact with other objects during assembly process is a significant challenge due to the variety of permitted or forbidden collisions between the distinct parts of the objects to be assembled. In order to put objects together in real-life scenarios, parts of assembled objects may be required to flex, whereas other parts may have to fit exactly. ... |
Construction of Bounding Volume Hierarchies for Triangle Meshes with Mixed Face Sizes | https://ieeexplore.ieee.org/document/9197113/ | [
"Yi Li",
"Evan Shellshear",
"Robert Bohlin",
"Johan S. Carlson",
"Yi Li",
"Evan Shellshear",
"Robert Bohlin",
"Johan S. Carlson"
] | We consider the problem of creating tighter-fitting bounding volumes (more specifically rectangular swept spheres) when constructing bounding volume hierarchies (BVHs) for complex 3D geometries given in the form of unstructured triangle meshes/soups with the aim of speeding up our IPS Path Planner for rigid bodies, where the triangles often have very different sizes. Currently, the underlying coll... |
Strategy for automated dense parking: how to navigate in narrow lanes | https://ieeexplore.ieee.org/document/9197088/ | [
"Philip Polack",
"Louis-Marie Dallen",
"Aurélien Cord",
"Philip Polack",
"Louis-Marie Dallen",
"Aurélien Cord"
] | This paper presents the architecture of a high- density parking solution based on car-like robots specifically designed to move cars. The main difficulty is to park the vehicles close to one another which implies hard constraints on the robot motion and localization. In particular, this paper focuses on navigation in narrow lanes. We propose a Lyapunov- based control strategy that has been derived... |
Multimodal Trajectory Predictions for Urban Environments Using Geometric Relationships between a Vehicle and Lanes | https://ieeexplore.ieee.org/document/9196738/ | [
"Atsushi Kawasaki",
"Akihito Seki",
"Atsushi Kawasaki",
"Akihito Seki"
] | Implementation of safe and efficient autonomous driving systems requires accurate prediction of the long-term trajectories of surrounding vehicles. High uncertainty in traffic behavior makes it difficult to predict trajectories in urban environments, which have various road geometries. To over-come this problem, we propose a method called lane-based multimodal prediction network (LAMP-Net), which ... |
Online optimal motion generation with guaranteed safety in shared workspace | https://ieeexplore.ieee.org/document/9197018/ | [
"Pu Zheng",
"Pierre-Brice Wieber",
"Olivier Aycard",
"Pu Zheng",
"Pierre-Brice Wieber",
"Olivier Aycard"
] | With new, safer manipulator robots, the probability of serious injury due to collisions with humans remains low (5%), even at speeds as high as 2 m.s-1. Collisions would better be avoided nevertheless, because they disrupt the tasks of both the robot and the human. We propose in this paper to equip robots with exteroceptive sensors and online motion generation so that the robot is able to perceive... |
Episodic Koopman Learning of Nonlinear Robot Dynamics with Application to Fast Multirotor Landing | https://ieeexplore.ieee.org/document/9197510/ | [
"Carl Folkestad",
"Daniel Pastor",
"Joel W. Burdick",
"Carl Folkestad",
"Daniel Pastor",
"Joel W. Burdick"
] | This paper presents a novel episodic method to learn a robot's nonlinear dynamics model and an increasingly optimal control sequence for a set of tasks. The method is based on the Koopman operator approach to nonlinear dynamical systems analysis, which models the flow of observables in a function space, rather than a flow in a state space. Practically, this method estimates a nonlinear diffeomorph... |
Eye-in-Hand 3D Visual Servoing of Helical Swimmers Using Parallel Mobile Coils | https://ieeexplore.ieee.org/document/9197276/ | [
"Zhengxin Yang",
"Lidong Yang",
"Li Zhang",
"Zhengxin Yang",
"Lidong Yang",
"Li Zhang"
] | Magnetic helical microswimmers can be propelled by rotating magnetic field and are adept at passing through narrow space. To date, various magnetic actuation systems and control methods have been developed to drive these microswimmers. However, steering their spacial movement in a large workspace is still challenging, which could be significant for potential medical applications. In this regard, t... |
A Mobile Paramagnetic Nanoparticle Swarm with Automatic Shape Deformation Control | https://ieeexplore.ieee.org/document/9197010/ | [
"Lidong Yang",
"Jiangfan Yu",
"Li Zhang",
"Lidong Yang",
"Jiangfan Yu",
"Li Zhang"
] | Recently, swarm control of micro-/nanorobots has drawn much attention in the field of microrobotics. This paper reports a mobile paramagnetic nanoparticle swarm with the capability of active shape deformation that can improve its environment adaptability. We show that, by applying elliptical rotating magnetic fields, a swarm pattern called the elliptical paramagnetic nanoparticle swarm (EPNS) woul... |
Magnetic miniature swimmers with multiple rigid flagella | https://ieeexplore.ieee.org/document/9196531/ | [
"Johan Quispe",
"Stéphane Régnier",
"Johan Quispe",
"Stéphane Régnier"
] | In this paper, we introduce novel miniature swimmers with multiple rigid tails based on spherical helices. The tail distribution of these prototypes enhances its swimming features as well as allowing to carry objects with it. The proposed swimmers are actuated by a rotating magnetic field, generating the robot rotation and thus producing a considerable thrust to start self-propelling. These protot... |
Design and Control of a Large-Range Nil-Stiffness Electro-Magnetic Active Force Sensor | https://ieeexplore.ieee.org/document/9197096/ | [
"Jonathan Cailliez",
"Antoine Weill-Duflos",
"Mokrane Boudaoud",
"Stéphane Régnier",
"Sinan Haliyo",
"Jonathan Cailliez",
"Antoine Weill-Duflos",
"Mokrane Boudaoud",
"Stéphane Régnier",
"Sinan Haliyo"
] | Active force sensors are key instruments to get around the tradeoff between the sensitivity and the measurement range of conventional passive force sensors. Thanks to their quasi-infinite stiffness in closed loop, active sensors can be applied for force measurements on samples with a wide range of stiffness without interference with the mechanical parameters of the sensor. MEMS (Micro-Electro Mech... |
Modeling Electromagnetic Navigation Systems for Medical Applications using Random Forests and Artificial Neural Networks | https://ieeexplore.ieee.org/document/9197212/ | [
"Ruoxi Yu",
"Samuel L. Charreyron",
"Quentin Boehler",
"Cameron Weibel",
"Christophe Chautems",
"Carmen C. Y. Poon",
"Bradley J. Nelson",
"Ruoxi Yu",
"Samuel L. Charreyron",
"Quentin Boehler",
"Cameron Weibel",
"Christophe Chautems",
"Carmen C. Y. Poon",
"Bradley J. Nelson"
] | Electromagnetic Navigation Systems (eMNS) can be used to control a variety of multiscale devices within the human body for remote surgery. Accurate modeling of the magnetic fields generated by the electromagnets of an eMNS is crucial for the precise control of these devices. Existing methods assume a linear behavior of these systems, leading to significant modeling errors within nonlinear regions ... |
Automated Tracking System with Head and Tail Recognition for Time-Lapse Observation of Free-Moving C. elegans | https://ieeexplore.ieee.org/document/9197546/ | [
"Shengnan Dong",
"Xiaoming Liu",
"Pengyun Li",
"Xiaoqing Tang",
"Dan Liu",
"Masaru Kojima",
"Qiang Huang",
"Tatsuo Arai",
"Shengnan Dong",
"Xiaoming Liu",
"Pengyun Li",
"Xiaoqing Tang",
"Dan Liu",
"Masaru Kojima",
"Qiang Huang",
"Tatsuo Arai"
] | In this paper, an automated tracking system with head and tail recognition for time-lapse observation of free-moving C. elegans is presented. In microscale field, active C. elegans can move out of the view easily without an automated tracking system because of the narrow field of view and rapid speed of C. elegans. In our previous works, we constructed an automated platform with 3D freedom to trac... |
Towards Adaptive Benthic Habitat Mapping | https://ieeexplore.ieee.org/document/9196811/ | [
"Jackson Shields",
"Oscar Pizarro",
"Stefan B. Williams",
"Jackson Shields",
"Oscar Pizarro",
"Stefan B. Williams"
] | Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements broadscale bathymetric data collected using sonar. Using these two data sources, the relationship between remotely-sensed acoustic data and the sampled imagery can b... |
Multispectral Domain Invariant Image for Retrieval-based Place Recognition | https://ieeexplore.ieee.org/document/9197514/ | [
"Daechan Han",
"YuJin Hwang",
"Namil Kim",
"Yukyung Choi",
"Daechan Han",
"YuJin Hwang",
"Namil Kim",
"Yukyung Choi"
] | Multispectral recognition has attracted increasing attention from the research community due to its potential competence for many applications from day to night. However, due to the domain shift between RGB and thermal image, it has still many challenges to apply and to use RGB domain-based tasks. To reduce the domain gap, we propose multispectral domain invariant framework, which leverages the un... |
Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation | https://ieeexplore.ieee.org/document/9197477/ | [
"Adrian S. Bauer",
"Peter Schmaus",
"Freek Stulp",
"Daniel Leidner",
"Adrian S. Bauer",
"Peter Schmaus",
"Freek Stulp",
"Daniel Leidner"
] | Nowadays, robots are mechanically able to perform highly demanding tasks, where AI-based planning methods are used to schedule a sequence of actions that result in the desired effect. However, it is not always possible to know the exact outcome of an action in advance, as failure situations may occur at any time. To enhance failure tolerance, we propose to predict the effects of robot actions by a... |
Anytime Integrated Task and Motion Policies for Stochastic Environments | https://ieeexplore.ieee.org/document/9197574/ | [
"Naman Shah",
"Deepak Kala Vasudevan",
"Kislay Kumar",
"Pranav Kamojjhala",
"Siddharth Srivastava",
"Naman Shah",
"Deepak Kala Vasudevan",
"Kislay Kumar",
"Pranav Kamojjhala",
"Siddharth Srivastava"
] | In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed using them can be unexecutable. These problems are exacerbated in stochastic situations where the robot needs to reason about, and plan for multiple contingenc... |
CCRobot-III: a Split-type Wire-driven Cable Climbing Robot for Cable-stayed Bridge Inspection | https://ieeexplore.ieee.org/document/9196772/ | [
"Ning Ding",
"Zhenliang Zheng",
"Junlin Song",
"Zhenglong Sun",
"Tin Lun Lam",
"Huihuan Qian",
"Ning Ding",
"Zhenliang Zheng",
"Junlin Song",
"Zhenglong Sun",
"Tin Lun Lam",
"Huihuan Qian"
] | This paper presents a novel Cable Climbing Robot CCRobot-III, which is the third version designed for bridge cable inspection tasks, aiming at surpassing previous versions in terms of climbing speed and payload capacity. Benefiting from Split-type Wire-driven design, CCRobot-III can climb along a 90-110mm diameter bridge cable in inchworm-like gait at a speed of up to 12m/min, and carrying more th... |
Omnidirectional Tractable Three Module Robot | https://ieeexplore.ieee.org/document/9197210/ | [
"Kartik Suryavanshi",
"Rama Vadapalli",
"Ruchitha Vucha",
"Abhishek Sarkar",
"K Madhava Krishna",
"Kartik Suryavanshi",
"Rama Vadapalli",
"Ruchitha Vucha",
"Abhishek Sarkar",
"K Madhava Krishna"
] | This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120° apart circumferentially which can rotate about their own axis allowing holonomic motion of the robot. The holonomic motion enables the robot to overcome motion singularity when negotiating T-junctions and further allows t... |
A Practical Climbing Robot for Steel Bridge Inspection | https://ieeexplore.ieee.org/document/9196892/ | [
"Son T. Nguyen",
"Anh Q. Pham",
"Cadence Motley",
"Hung M. La",
"Son T. Nguyen",
"Anh Q. Pham",
"Cadence Motley",
"Hung M. La"
] | The advanced robotic and automation (ARA) lab has developed and successfully implemented a design inspired by many of the various cutting edge steel inspection robots to date. The combination of these robots concepts into a unified design came with its own set of challenges since the parameters for these features sometimes conflicted. An extensive amount of design and analysis work was performed b... |
Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism | https://ieeexplore.ieee.org/document/9196919/ | [
"Haruhiko Eto",
"H. Harry Asada",
"Haruhiko Eto",
"H. Harry Asada"
] | This paper presents a wheeled wall-climbing robot with a shape-adaptive magnetic adhesion mechanism for large steel structures. To travel up and down various curved ferromagnetic surfaces, we developed a 2 DOF rotational magnetic adhesion mechanism installed on each wheel that can change the orientation of the magnets to keep the magnetic force direction always normal to the contact surface. These... |
Algebraic Fault Detection and Identification for Rigid Robots | https://ieeexplore.ieee.org/document/9197561/ | [
"Alexander Lomakin",
"Joachim Deutscher",
"Alexander Lomakin",
"Joachim Deutscher"
] | This paper presents a method for algebraic fault detection and identification of nonlinear mechanical systems, describing rigid robots, by using an approximation with orthonormal Jacobi polynomials. An explicit expression is derived for the fault from the equation of motion, which is decoupled from disturbances and only depends on measurable signals and their time derivatives. Fault detection and ... |
Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors | https://ieeexplore.ieee.org/document/9196552/ | [
"Claudio Pose",
"Juan Giribet",
"Ignacio Mas",
"Claudio Pose",
"Juan Giribet",
"Ignacio Mas"
] | Tilted rotors in multirotor vehicles have shown to be useful for different practical reasons. For instance, increasing yaw maneuverability or enabling full position and attitude control of hexarotor vehicles. It has also been proven that a hexagon-shaped multirotor is capable of complete attitude and altitude control under failures of one of its rotors. However, when a rotor fails, the torque that... |
Detecting Execution Anomalies As an Oracle for Autonomy Software Robustness | https://ieeexplore.ieee.org/document/9197060/ | [
"Deborah S. Katz",
"Casidhe Hutchison",
"Milda Zizyte",
"Claire Le Goues",
"Deborah S. Katz",
"Casidhe Hutchison",
"Milda Zizyte",
"Claire Le Goues"
] | We propose a method for detecting execution anomalies in robotics and autonomy software. The algorithm uses system monitoring techniques to obtain profiles of executions. It uses a clustering algorithm to create clusters of those executions, representing nominal execution. A distance metric determines whether additional execution profiles belong to the existing clusters or should be considered ano... |
Reliability Validation of Learning Enabled Vehicle Tracking | https://ieeexplore.ieee.org/document/9196932/ | [
"Youcheng Sun",
"Yifan Zhou",
"Simon Maskell",
"James Sharp",
"Xiaowei Huang",
"Youcheng Sun",
"Yifan Zhou",
"Simon Maskell",
"James Sharp",
"Xiaowei Huang"
] | This paper studies the reliability of a real-world learning-enabled system, which conducts dynamic vehicle tracking based on a high-resolution wide-area motion imagery input. The system consists of multiple neural network components - to process the imagery inputs - and multiple symbolic (Kalman filter) components - to analyse the processed information for vehicle tracking. It is known that neural... |
Real-Time, Highly Accurate Robotic Grasp Detection using Fully Convolutional Neural Network with Rotation Ensemble Module | https://ieeexplore.ieee.org/document/9197002/ | [
"Dongwon Park",
"Yonghyeok Seo",
"Se Young Chun",
"Dongwon Park",
"Yonghyeok Seo",
"Se Young Chun"
] | Rotation invariance has been an important topic in computer vision tasks. Ideally, robot grasp detection should be rotation-invariant. However, rotation-invariance in robotic grasp detection has been only recently studied by using rotation anchor box that are often time-consuming and unreliable for multiple objects. In this paper, we propose a rotation ensemble module (REM) for robotic grasp detec... |
Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly | https://ieeexplore.ieee.org/document/9196733/ | [
"Kevin Zakka",
"Andy Zeng",
"Johnny Lee",
"Shuran Song",
"Kevin Zakka",
"Andy Zeng",
"Johnny Lee",
"Shuran Song"
] | Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to generalize to new objects without 3D CAD models or task-specific training data. In this work, we propose to formulate the kit assembly task as a shape matching pro... |
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data | https://ieeexplore.ieee.org/document/9197121/ | [
"Priya Sundaresan",
"Jennifer Grannen",
"Brijen Thananjeyan",
"Ashwin Balakrishna",
"Michael Laskey",
"Kevin Stone",
"Joseph E. Gonzalez",
"Ken Goldberg",
"Priya Sundaresan",
"Jennifer Grannen",
"Brijen Thananjeyan",
"Ashwin Balakrishna",
"Michael Laskey",
"Kevin Stone",
"Joseph E. Gonzalez",
"Ken Goldberg"
] | Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly from images and physical interaction requires significant time on a robot and can fail to generalize across tasks. We address these challenges using interpretabl... |
Efficient two step optimization for large embedded deformation graph based SLAM | https://ieeexplore.ieee.org/document/9196930/ | [
"Jingwei Song",
"Fang Bai",
"Liang Zhao",
"Shoudong Huang",
"Rong Xiong",
"Jingwei Song",
"Fang Bai",
"Liang Zhao",
"Shoudong Huang",
"Rong Xiong"
] | Embedded deformation graph is a widely used technique in deformable geometry and graphical problems. Although the technique has been transmitted to stereo (or RGB-D) camera based SLAM applications, it remains challenging to compromise the computational cost as the model grows. In practice, the processing time grows rapidly in accordance with the expansion of maps. In this paper, we propose an appr... |
Camera-to-Robot Pose Estimation from a Single Image | https://ieeexplore.ieee.org/document/9196596/ | [
"Timothy E. Lee",
"Jonathan Tremblay",
"Thang To",
"Jia Cheng",
"Terry Mosier",
"Oliver Kroemer",
"Dieter Fox",
"Stan Birchfield",
"Timothy E. Lee",
"Jonathan Tremblay",
"Thang To",
"Jia Cheng",
"Terry Mosier",
"Oliver Kroemer",
"Dieter Fox",
"Stan Birchfield"
] | We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints) associated with the robot. The network is trained entirely on simulated data using domain randomization to bridge the reality gap. Perspective-n-point (PnP) is then ... |
PST900: RGB-Thermal Calibration, Dataset and Segmentation Network | https://ieeexplore.ieee.org/document/9196831/ | [
"Shreyas S. Shivakumar",
"Neil Rodrigues",
"Alex Zhou",
"Ian D. Miller",
"Vijay Kumar",
"Camillo J. Taylor",
"Shreyas S. Shivakumar",
"Neil Rodrigues",
"Alex Zhou",
"Ian D. Miller",
"Vijay Kumar",
"Camillo J. Taylor"
] | In this work we propose long wave infrared (LWIR) imagery as a viable supporting modality for semantic segmentation using learning-based techniques. We first address the problem of RGB-thermal camera calibration by proposing a passive calibration target and procedure that is both portable and easy to use. Second, we present PST900, a dataset of 894 synchronized and calibrated RGB and Thermal image... |
Instance Segmentation of LiDAR Point Clouds | https://ieeexplore.ieee.org/document/9196622/ | [
"Feihu Zhang",
"Chenye Guan",
"Jin Fang",
"Song Bai",
"Ruigang Yang",
"Philip H.S. Torr",
"Victor Prisacariu",
"Feihu Zhang",
"Chenye Guan",
"Jin Fang",
"Song Bai",
"Ruigang Yang",
"Philip H.S. Torr",
"Victor Prisacariu"
] | We propose a robust baseline method for instance segmentation which are specially designed for large-scale outdoor LiDAR point clouds. Our method includes a novel dense feature encoding technique, allowing the localization and segmentation of small, far-away objects, a simple but effective solution for single-shot instance prediction and effective strategies for handling severe class imbalances. S... |
Generation of Object Candidates Through Simply Looking Around | https://ieeexplore.ieee.org/document/9197482/ | [
"Doğan Patar",
"H. Işıl Bozma",
"Doğan Patar",
"H. Işıl Bozma"
] | In this paper, we consider the generation of generic object candidates by a mobile robot that is endowed with a pan-tilt monocular camera. This is an important problem because these candidates serve as basis for the robot to categorize and/or recognize the objects in its surroundings. The previously proposed methods either do not have a means of enabling the robot to look around through moving its... |
Dilated Point Convolutions: On the Receptive Field Size of Point Convolutions on 3D Point Clouds | https://ieeexplore.ieee.org/document/9197503/ | [
"Francis Engelmann",
"Theodora Kontogianni",
"Bastian Leibe",
"Francis Engelmann",
"Theodora Kontogianni",
"Bastian Leibe"
] | In this work, we propose Dilated Point Convolutions (DPC). In a thorough ablation study, we show that the receptive field size is directly related to the performance of 3D point cloud processing tasks, including semantic segmentation and object classification. Point convolutions are widely used to efficiently process 3D data representations such as point clouds or graphs. However, we observe that ... |
A water-obstacle separation and refinement network for unmanned surface vehicles | https://ieeexplore.ieee.org/document/9197194/ | [
"Borja Bovcon",
"Matej Kristan",
"Borja Bovcon",
"Matej Kristan"
] | Obstacle detection by semantic segmentation shows a great promise for autonomous navigation in unmanned surface vehicles (USV). However, existing methods suffer from poor estimation of the water edge in presence of visual ambiguities, poor detection of small obstacles and high false-positive rate on water reflections and wakes. We propose a new deep encoder-decoder architecture, a water-obstacle s... |
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