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Dynamic Anchor Selection for Improving Object Localization | https://ieeexplore.ieee.org/document/9197076/ | [
"Pranjay Shyam",
"Kuk-Jin Yoon",
"Kyung-Soo Kim",
"Pranjay Shyam",
"Kuk-Jin Yoon",
"Kyung-Soo Kim"
] | Anchor boxes act as potential object localization candidates allow single-stage detectors to achieve real-time performance, at the cost of localization accuracy when compared to state-of-the-art two-stage detectors. Therefore, correct selection of the scale and aspect ratio associated with an anchor box is crucial for detector performance. In this work, we propose a novel architecture called DANet... |
Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar | https://ieeexplore.ieee.org/document/9196835/ | [
"Dan Barnes",
"Ingmar Posner",
"Dan Barnes",
"Ingmar Posner"
] | This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn keypoint locations, scores and descriptors from localisation error alone. This approach avoids imposing any assumption on what makes a robust keypoint and crucia... |
SpAGNN: Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Data | https://ieeexplore.ieee.org/document/9196697/ | [
"Sergio Casas",
"Cole Gulino",
"Renjie Liao",
"Raquel Urtasun",
"Sergio Casas",
"Cole Gulino",
"Renjie Liao",
"Raquel Urtasun"
] | In this paper, we tackle the problem of relational behavior forecasting from sensor data. Towards this goal, we propose a novel spatially-aware graph neural network (SpAGNN) that models the interactions between agents in the scene. Specifically, we exploit a convolutional neural network to detect the actors and compute their initial states. A graph neural network then iteratively updates the actor... |
Any Motion Detector: Learning Class-agnostic Scene Dynamics from a Sequence of LiDAR Point Clouds | https://ieeexplore.ieee.org/document/9196716/ | [
"Artem Filatov",
"Andrey Rykov",
"Viacheslav Murashkin",
"Artem Filatov",
"Andrey Rykov",
"Viacheslav Murashkin"
] | Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion detection and motion parameters estimation based on 3D point cloud sequence. We introduce an ego-motion compensation layer to achieve real-time inference with perfor... |
Where and When: Event-Based Spatiotemporal Trajectory Prediction from the iCub’s Point-Of-View | https://ieeexplore.ieee.org/document/9197373/ | [
"Marco Monforte",
"Ander Arriandiaga",
"Arren Glover",
"Chiara Bartolozzi",
"Marco Monforte",
"Ander Arriandiaga",
"Arren Glover",
"Chiara Bartolozzi"
] | Fast, non-linear trajectories have been shown to be more accurately visually measured, and hence predicted, when sampled spatially (that is when the target position changes) rather than temporally, i.e. at a fixed-rate as in traditional frame-based cameras. Event-cameras, with their asynchronous, low latency information stream, allow for spatial sampling with very high temporal resolution, improvi... |
A Data-driven Planning Framework for Robotic Texture Painting on 3D Surfaces | https://ieeexplore.ieee.org/document/9196693/ | [
"Anurag Sai Vempati",
"Roland Siegwart",
"Juan Nieto",
"Anurag Sai Vempati",
"Roland Siegwart",
"Juan Nieto"
] | Painting textures on 3D surfaces requires an understanding of the surface geometry, paint flow and paint mixing. This work formulates automated painting as a planning problem and proposes a solution based on a self-supervised learning framework that enables a robot to paint monochromatic non-uniform textures on 3D surfaces. We developed a method that iteratively decides the actions to take based o... |
Learned Critical Probabilistic Roadmaps for Robotic Motion Planning | https://ieeexplore.ieee.org/document/9197106/ | [
"Brian Ichter",
"Edward Schmerling",
"Tsang-Wei Edward Lee",
"Aleksandra Faust",
"Brian Ichter",
"Edward Schmerling",
"Tsang-Wei Edward Lee",
"Aleksandra Faust"
] | Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the robot's state space, allowing arbitrarily accurate representations as the number of samples increases to infinity. In practice, however, solution trajectories only... |
Learning Heuristic A: Efficient Graph Search using Neural Network | https://ieeexplore.ieee.org/document/9197015/ | [
"Soonkyum Kim",
"Byungchul An",
"Soonkyum Kim",
"Byungchul An"
] | In this paper, we consider the path planning problem on a graph. To reduce computation load by efficiently exploring the graph, we model the heuristic function as a neural network, which is trained by a training set derived from optimal paths to estimate the optimal cost between a pair of vertices on the graph. As such heuristic function cannot be proved to be an admissible heuristic to guarantee ... |
3D-CNN Based Heuristic Guided Task-Space Planner for Faster Motion Planning | https://ieeexplore.ieee.org/document/9196883/ | [
"Ryo Terasawa",
"Yuka Ariki",
"Takuya Narihira",
"Toshimitsu Tsuboi",
"Kenichiro Nagasaka",
"Ryo Terasawa",
"Yuka Ariki",
"Takuya Narihira",
"Toshimitsu Tsuboi",
"Kenichiro Nagasaka"
] | Motion planning is important in a wide variety of applications such as robotic manipulation. However, it is still challenging to reliably find a collision-free path within a reasonable time. To address the issue, this paper proposes a novel framework which combines a sampling-based planner and deep learning for faster motion planning, focusing on heuristics. The proposed method extends Task-Space ... |
Learned Sampling Distributions for Efficient Planning in Hybrid Geometric and Object-Level Representations | https://ieeexplore.ieee.org/document/9196771/ | [
"Katherine Liu",
"Martina Stadler",
"Nicholas Roy",
"Katherine Liu",
"Martina Stadler",
"Nicholas Roy"
] | We would like to enable a robotic agent to quickly and intelligently find promising trajectories through structured, unknown environments. Many approaches to navigation in unknown environments are limited to considering geometric information only, which leads to myopic behavior. In this work, we show that learning a sampling distribution that incorporates both geometric information and explicit, o... |
Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning | https://ieeexplore.ieee.org/document/9197291/ | [
"Danny Driess",
"Ozgur Oguz",
"Jung-Su Ha",
"Marc Toussaint",
"Danny Driess",
"Ozgur Oguz",
"Jung-Su Ha",
"Marc Toussaint"
] | In this paper, we propose a deep neural network that predicts the feasibility of a mixed-integer program from visual input for robot manipulation planning. Integrating learning into task and motion planning is challenging, since it is unclear how the scene and goals can be encoded as input to the learning algorithm in a way that enables to generalize over a variety of tasks in environments with ch... |
Fast Frontier-based Information-driven Autonomous Exploration with an MAV | https://ieeexplore.ieee.org/document/9196707/ | [
"Anna Dai",
"Sotiris Papatheodorou",
"Nils Funk",
"Dimos Tzoumanikas",
"Stefan Leutenegger",
"Anna Dai",
"Sotiris Papatheodorou",
"Nils Funk",
"Dimos Tzoumanikas",
"Stefan Leutenegger"
] | Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration strategy is the reduction of map entropy regarding occupancy probabilities, which is reflected in a utility function to be maximised. We achieve fast and efficient... |
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions | https://ieeexplore.ieee.org/document/9197081/ | [
"Aleix Paris",
"Brett T. Lopez",
"Jonathan P. How",
"Aleix Paris",
"Brett T. Lopez",
"Jonathan P. How"
] | Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem but most lack explicit consideration of the wind disturbance, which typically leads to slow descents onto the platform. This work presents a fully autonomous visi... |
Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs | https://ieeexplore.ieee.org/document/9196724/ | [
"Max Basescu",
"Joseph Moore",
"Max Basescu",
"Joseph Moore"
] | Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to maneuverability. In this paper, we present a nonlinear control approach for enabling aerobatic fixed-wing UAVs to maneuver in constrained spaces. Our approach utilizes... |
A Flight Envelope Determination and Protection System for Fixed-Wing UAVs | https://ieeexplore.ieee.org/document/9197433/ | [
"Georgios Zogopoulos-Papaliakos",
"Kostas J. Kyriakopoulos",
"Georgios Zogopoulos-Papaliakos",
"Kostas J. Kyriakopoulos"
] | In this work we present a novel, approximate, efficient algorithm for determining the Trim Flight Envelope of a fixed-wing UAV, based on a generic, nonlinear numerical model. The resulting Flight Envelope is expressed as a convex intersection of half-spaces. Subsequently, a Model Predictive Controller (MPC) is designed which takes into account the Flight Envelope constraints, to avoid Loss-of-Cont... |
Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecasting | https://ieeexplore.ieee.org/document/9197340/ | [
"Jean Mercat",
"Thomas Gilles",
"Nicole El Zoghby",
"Guillaume Sandou",
"Dominique Beauvois",
"Guillermo Pita Gil",
"Jean Mercat",
"Thomas Gilles",
"Nicole El Zoghby",
"Guillaume Sandou",
"Dominique Beauvois",
"Guillermo Pita Gil"
] | This paper presents a novel vehicle motion forecasting method based on multi-head attention. It produces joint forecasts for all vehicles on a road scene as sequences of multi-modal probability density functions of their positions. Its architecture uses multi-head attention to account for interactions between all vehicles, and long short-term memory layers for encoding and forecasting. It relies s... |
A Volumetric Albedo Framework for 3D Imaging Sonar Reconstruction | https://ieeexplore.ieee.org/document/9197042/ | [
"Eric Westman",
"Ioannis Gkioulekas",
"Michael Kaess",
"Eric Westman",
"Ioannis Gkioulekas",
"Michael Kaess"
] | We present a novel framework for object-level 3D underwater reconstruction using imaging sonar sensors. We demonstrate that imaging sonar reconstruction is analogous to the problem of confocal non-line-of-sight (NLOS) reconstruction. Drawing upon this connection, we formulate the problem as one of solving for volumetric albedo, where the scene of interest is modeled as a directionless albedo field... |
Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas | https://ieeexplore.ieee.org/document/9196997/ | [
"Simon F. G. Ehlers",
"Marvin Stuede",
"Kathrin Nuelle",
"Tobias Ortmaier",
"Simon F. G. Ehlers",
"Marvin Stuede",
"Kathrin Nuelle",
"Tobias Ortmaier"
] | This work presents a semantic map management approach for various environments by triggering multiple maps with different simultaneous localization and mapping (SLAM) configurations. A modular map structure allows to add, modify or delete maps without influencing other maps of different areas. The hierarchy level of our algorithm is above the utilized SLAM method. Evaluating laser scan data (e.g. ... |
A Hierarchical Framework for Collaborative Probabilistic Semantic Mapping | https://ieeexplore.ieee.org/document/9197261/ | [
"Yufeng Yue",
"Chunyang Zhao",
"Ruilin Li",
"Chule Yang",
"Jun Zhang",
"Mingxing Wen",
"Yuanzhe Wang",
"Danwei Wang",
"Yufeng Yue",
"Chunyang Zhao",
"Ruilin Li",
"Chule Yang",
"Jun Zhang",
"Mingxing Wen",
"Yuanzhe Wang",
"Danwei Wang"
] | Performing collaborative semantic mapping is a critical challenge for cooperative robots to maintain a comprehensive contextual understanding of the surroundings. Most of the existing work either focus on single robot semantic mapping or collaborative geometry mapping. In this paper, a novel hierarchical collaborative probabilistic semantic mapping framework is proposed, where the problem is formu... |
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping | https://ieeexplore.ieee.org/document/9197412/ | [
"Thai Duong",
"Nikhil Das",
"Michael Yip",
"Nikolay Atanasov",
"Thai Duong",
"Nikhil Das",
"Michael Yip",
"Nikolay Atanasov"
] | This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision boundary of a kernel perceptron classifier. We develop an online training algorithm that maintains a very sparse set of support vectors to represent obstacle bou... |
Hybrid Topological and 3D Dense Mapping through Autonomous Exploration for Large Indoor Environments | https://ieeexplore.ieee.org/document/9197226/ | [
"Clara Gomez",
"Marius Fehr",
"Alex Millane",
"Alejandra C. Hernandez",
"Juan Nieto",
"Ramon Barber",
"Roland Siegwart",
"Clara Gomez",
"Marius Fehr",
"Alex Millane",
"Alejandra C. Hernandez",
"Juan Nieto",
"Ramon Barber",
"Roland Siegwart"
] | Robots require a detailed understanding of the 3D structure of the environment for autonomous navigation and path planning. A popular approach is to represent the environment using metric, dense 3D maps such as 3D occupancy grids. However, in large environments the computational power required for most state-of-the-art 3D dense mapping systems is compromising precision and real-time capability. In... |
Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraints | https://ieeexplore.ieee.org/document/9196902/ | [
"Shin-Fang Ch’ng",
"Naoya Sogi",
"Pulak Purkait",
"Tat-Jun Chin",
"Kazuhiro Fukui",
"Shin-Fang Ch’ng",
"Naoya Sogi",
"Pulak Purkait",
"Tat-Jun Chin",
"Kazuhiro Fukui"
] | Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar pose estimation (PPE). Although there are mature techniques, PPE suffers from a fundamental ambiguity problem, in that there can be more than one plausible pose ... |
Anticipating the Start of User Interaction for Service Robot in the Wild | https://ieeexplore.ieee.org/document/9196548/ | [
"Koichiro Ito",
"Quan Kong",
"Shota Horiguchi",
"Takashi Sumiyoshi",
"Kenji Nagamatsu",
"Koichiro Ito",
"Quan Kong",
"Shota Horiguchi",
"Takashi Sumiyoshi",
"Kenji Nagamatsu"
] | A service robot is expected to provide proactive service for visitors who require its help. In contrast to passive service, e.g., providing service only after being spoken to, proactive service initiates an interaction at an early stage, e.g., talking to potential visitors who need the robot’s help in advance. This paper addresses how to anticipate the start of user interaction. We propose an appr... |
Spin Detection in Robotic Table Tennis | https://ieeexplore.ieee.org/document/9196536/ | [
"Jonas Tebbe",
"Lukas Klamt",
"Yapeng Gao",
"Andreas Zell",
"Jonas Tebbe",
"Lukas Klamt",
"Yapeng Gao",
"Andreas Zell"
] | In table tennis, the rotation (spin) of the ball plays a crucial role. A table tennis match will feature a variety of strokes. Each generates different amounts and types of spin. To develop a robot that can compete with a human player, the robot needs to detect spin, so it can plan an appropriate return stroke. In this paper we compare three methods to estimate spin. The first two approaches use a... |
Look, Listen, and Act: Towards Audio-Visual Embodied Navigation | https://ieeexplore.ieee.org/document/9197008/ | [
"Chuang Gan",
"Yiwei Zhang",
"Jiajun Wu",
"Boqing Gong",
"Joshua B. Tenenbaum",
"Chuang Gan",
"Yiwei Zhang",
"Jiajun Wu",
"Boqing Gong",
"Joshua B. Tenenbaum"
] | A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of Audio-Visual Embodied Navigation, the task of planning the shortest path from a random starting location in a scene to the sound source in an indoor environment, given ... |
Autonomous Tool Construction with Gated Graph Neural Network | https://ieeexplore.ieee.org/document/9197285/ | [
"Chenjie Yang",
"Xuguang Lan",
"Hanbo Zhang",
"Nanning Zheng",
"Chenjie Yang",
"Xuguang Lan",
"Hanbo Zhang",
"Nanning Zheng"
] | Autonomous tool construction is a significant but challenging task in robotics. This task can be interpreted as when given a reference tool, selecting some available candidate parts to reconstruct it. Most of the existing works perform tool construction in the form of action part and grasp part, which is only a specific construction pattern and limits its application to some extent. In general sce... |
Training-Set Distillation for Real-Time UAV Object Tracking | https://ieeexplore.ieee.org/document/9197252/ | [
"Fan Li",
"Changhong Fu",
"Fuling Lin",
"Yiming Li",
"Peng Lu",
"Fan Li",
"Changhong Fu",
"Fuling Lin",
"Yiming Li",
"Peng Lu"
] | Correlation filter (CF) has recently exhibited promising performance in visual object tracking for unmanned aerial vehicle (UAV). Such online learning method heavily depends on the quality of the training-set, yet complicated aerial scenarios like occlusion or out of view can reduce its reliability. In this work, a novel time slot-based distillation approach is proposed to efficiently and effectiv... |
CNN-Based Simultaneous Dehazing and Depth Estimation | https://ieeexplore.ieee.org/document/9197358/ | [
"Byeong-Uk Lee",
"Kyunghyun Lee",
"Jean Oh",
"In So Kweon",
"Byeong-Uk Lee",
"Kyunghyun Lee",
"Jean Oh",
"In So Kweon"
] | It is difficult for both cameras and depth sensors to obtain reliable information in hazy scenes. Therefore, image dehazing is still one of the most challenging problems to solve in computer vision and robotics. With the development of convolutional neural networks (CNNs), lots of dehazing and depth estimation algorithms using CNNs have emerged. However, very few of those try to solve these two pr... |
Internet of Things (IoT)-based Collaborative Control of a Redundant Manipulator for Teleoperated Minimally Invasive Surgeries | https://ieeexplore.ieee.org/document/9197321/ | [
"Hang Su",
"Salih Ertug Ovur",
"Zhijun Li",
"Yingbai Hu",
"Jiehao Li",
"Alois Knoll",
"Giancarlo Ferrigno",
"Elena De Momi",
"Hang Su",
"Salih Ertug Ovur",
"Zhijun Li",
"Yingbai Hu",
"Jiehao Li",
"Alois Knoll",
"Giancarlo Ferrigno",
"Elena De Momi"
] | In this paper, an Internet of Things-based human-robot collaborative control scheme is developed in Robot-assisted Minimally Invasive Surgery scenario. A hierarchical operational space formulation is designed to exploit the redundancies of the 7-DoFs redundant manipulator to handle multiple operational tasks based on their priority levels, such as guaranteeing a remote center of motion constraint ... |
Passive Dynamic Balancing and Walking in Actuated Environments | https://ieeexplore.ieee.org/document/9197400/ | [
"Jenna Reher",
"Noel Csomay-Shanklin",
"David L. Christensen",
"Bobby Bristow",
"Aaron D. Ames",
"Lanny Smoot",
"Jenna Reher",
"Noel Csomay-Shanklin",
"David L. Christensen",
"Bobby Bristow",
"Aaron D. Ames",
"Lanny Smoot"
] | The control of passive dynamic systems remains a challenging problem in the field of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of flat actuated environments for realizing passive dynamic balancing and locomotion. Specifically, we utilize a novel omnidirectional actuated floo... |
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model | https://ieeexplore.ieee.org/document/9196715/ | [
"Stéphane Caron",
"Stéphane Caron"
] | The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP that is simple to implement, coincides with the state-of-the-art for small perturbations and is able to recover from larger perturbations thanks to this new st... |
Stability Criteria of Balanced and Steppable Unbalanced States for Full-Body Systems with Implications in Robotic and Human Gait | https://ieeexplore.ieee.org/document/9196820/ | [
"William Z. Peng",
"Carlotta Mummolo",
"Joo H. Kim",
"William Z. Peng",
"Carlotta Mummolo",
"Joo H. Kim"
] | Biped walking involves a series of transitions between single support (SS) and double support (DS) contact configurations that can include both balanced and unbalanced states. The new concept of steppability is introduced to partition the set of unbalanced states into steppable states and falling (unsteppable) states based on the ability of a biped system to respond to forward velocity perturbatio... |
Material Handling by Humanoid Robot While Pushing Carts Using a Walking Pattern Based on Capture Point | https://ieeexplore.ieee.org/document/9196872/ | [
"Jean Chagas Vaz",
"Paul Oh",
"Jean Chagas Vaz",
"Paul Oh"
] | This paper presents a study that evaluates the effects on the walking pattern of a full-sized humanoid robot as it pushes different carts. Furthermore, it discuss a modified Zero Moment Point (ZMP) pattern based on a capture point method, and a friction compensation method for the arms. Humanoid researchers have demonstrated that robots can perform a wide range of tasks including handling tools, c... |
Interconnection and Damping Assignment Passivity-Based Control for Gait Generation in Underactuated Compass-Like Robots | https://ieeexplore.ieee.org/document/9196598/ | [
"Pierluigi Arpenti",
"Fabio Ruggiero",
"Vincenzo Lippiello",
"Pierluigi Arpenti",
"Fabio Ruggiero",
"Vincenzo Lippiello"
] | A compass-like biped robot can go down a gentle slope without the need of actuation through a proper choice of its dynamic parameter and starting from a suitable initial condition. Addition of control actions is requested to generate additional gaits and robustify the existing one. This paper designs an interconnection and damping assignment passivity-based control, rooted within the port-Hamilton... |
Multi-Robot Path Deconfliction through Prioritization by Path Prospects | https://ieeexplore.ieee.org/document/9196813/ | [
"Wenying Wu",
"Subhrajit Bhattacharya",
"Amanda Prorok",
"Wenying Wu",
"Subhrajit Bhattacharya",
"Amanda Prorok"
] | This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled planning, in which robots plan their paths sequentially in order of priority. Choosing how to prioritize the robots is a key consideration. State-of-the-art pri... |
A Connectivity-Prediction Algorithm and its Application in Active Cooperative Localization for Multi-Robot Systems | https://ieeexplore.ieee.org/document/9197083/ | [
"Liang Zhang",
"Zexu Zhang",
"Roland Siegwart",
"Jen Jen Chung",
"Liang Zhang",
"Zexu Zhang",
"Roland Siegwart",
"Jen Jen Chung"
] | This paper presents a method for predicting the probability of future connectivity between mobile robots with range-limited communication. In particular, we focus on its application to active motion planning for cooperative localization (CL). The probability of connection is modeled by the distribution of quadratic forms in random normal variables and is computed by the infinite power series expan... |
Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems | https://ieeexplore.ieee.org/document/9197429/ | [
"Wenhao Luo",
"Sha Yi",
"Katia Sycara",
"Wenhao Luo",
"Sha Yi",
"Katia Sycara"
] | In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call behavior mixing. Behavior mixing is accomplished when different subgroups of the overall robot team change their controllers to collectively achieve given tasks while maintaining connectivity within and across subgroups in... |
Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation | https://ieeexplore.ieee.org/document/9196696/ | [
"Christos K. Verginis",
"Dimos V. Dimarogonas",
"Christos K. Verginis",
"Dimos V. Dimarogonas"
] | This paper considers the optimal cooperative robotic manipulation problem in terms of energy resources. In particular, we consider rigid cooperative manipulation systems, i.e., with rigid grasping contacts, and study energy-optimal conditions in the sense of minimization of the arising internal forces, which are inter-agent forces that do not contribute to object motion. Firstly, we use recent res... |
Robot Telekinesis: Application of a Unimanual and Bimanual Object Manipulation Technique to Robot Control | https://ieeexplore.ieee.org/document/9197517/ | [
"Joon Hyub Lee",
"Yongkwan Kim",
"Sang-Gyun An",
"Seok-Hyung Bae",
"Joon Hyub Lee",
"Yongkwan Kim",
"Sang-Gyun An",
"Seok-Hyung Bae"
] | Unlike large and dangerous industrial robots at production lines in factories that are strictly fenced off, collaborative robots are smaller and safer and can be installed adjacent to human workers and collaborate with them. However, controlling and teaching new moves to collaborative robots can be difficult and time-consuming when using existing methods, such as pressing buttons on a teaching pen... |
A Set-Theoretic Approach to Multi-Task Execution and Prioritization | https://ieeexplore.ieee.org/document/9196741/ | [
"Gennaro Notomista",
"Siddharth Mayya",
"Mario Selvaggio",
"María Santos",
"Cristian Secchi",
"Gennaro Notomista",
"Siddharth Mayya",
"Mario Selvaggio",
"María Santos",
"Cristian Secchi"
] | Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to protect both the robot from its surroundings and vice versa. Furthermore, the possibility of switching the priority of tasks during their execution gives the roboti... |
Variable Impedance Control in Cartesian Latent Space while Avoiding Obstacles in Null Space | https://ieeexplore.ieee.org/document/9197192/ | [
"David Parent",
"Adrià Colomé",
"Carme Torras",
"David Parent",
"Adrià Colomé",
"Carme Torras"
] | Human-robot interaction is one of the keys of assistive robots. Robots are expected to be compliant with people but at the same time correctly perform the tasks. In such applications, Cartesian impedance control is preferred over joint control, as the desired interaction and environmental feedback can be described more naturally, and the force to be exerted by the robot can be readily adjusted.Thi... |
MagicHand: Context-Aware Dexterous Grasping Using an Anthropomorphic Robotic Hand | https://ieeexplore.ieee.org/document/9196538/ | [
"Hui Li",
"Jindong Tan",
"Hongsheng He",
"Hui Li",
"Jindong Tan",
"Hongsheng He"
] | Understanding of characteristics of objects such as fragility, rigidity, texture and dimensions facilitates and innovates robotic grasping. In this paper, we propose a context- aware anthropomorphic robotic hand (MagicHand) grasping system which is able to gather various information about its target object and generate grasping strategies based on the perceived information. In this work, NIR spect... |
Learning Pregrasp Manipulation of Objects from Ungraspable Poses | https://ieeexplore.ieee.org/document/9196982/ | [
"Zhaole Sun",
"Kai Yuan",
"Wenbin Hu",
"Chuanyu Yang",
"Zhibin Li",
"Zhaole Sun",
"Kai Yuan",
"Wenbin Hu",
"Chuanyu Yang",
"Zhibin Li"
] | In robotic grasping, objects are often occluded in ungraspable configurations such that no feasible grasp pose can be found, e.g. large flat boxes on the table that can only be grasped once lifted. Inspired by human bimanual manipulation, e.g. one hand to lift up things and the other to grasp, we address this type of problems by introducing pregrasp manipulation – push and lift actions. We propose... |
Picking Thin Objects by Tilt-and-Pivot Manipulation and Its Application to Bin Picking | https://ieeexplore.ieee.org/document/9197493/ | [
"Zhekai Tong",
"Tierui He",
"Chung Hee Kim",
"Yu Hin Ng",
"Qianyi Xu",
"Jungwon Seo",
"Zhekai Tong",
"Tierui He",
"Chung Hee Kim",
"Yu Hin Ng",
"Qianyi Xu",
"Jungwon Seo"
] | This paper introduces the technique of tilt-and-pivot manipulation, a new method for picking thin, rigid objects lying on a flat surface through robotic dexterous in-hand manipulation. During the manipulation process, the gripper is controlled to reorient about the contact with the object such that its finger can get in the space between the object and the supporting surface, which is formed by ti... |
Attention-Guided Lightweight Network for Real-Time Segmentation of Robotic Surgical Instruments | https://ieeexplore.ieee.org/document/9197425/ | [
"Zhen-Liang Ni",
"Gui-Bin Bian",
"Zeng-Guang Hou",
"Xiao-Hu Zhou",
"Xiao-Liang Xie",
"Zhen Li",
"Zhen-Liang Ni",
"Gui-Bin Bian",
"Zeng-Guang Hou",
"Xiao-Hu Zhou",
"Xiao-Liang Xie",
"Zhen Li"
] | The real-time segmentation of surgical instruments plays a crucial role in robot-assisted surgery. However, it is still a challenging task to implement deep learning models to do real-time segmentation for surgical instruments due to their high computational costs and slow inference speed. In this paper, we propose an attention-guided lightweight network (LWANet), which can segment surgical instru... |
Automated robotic breast ultrasound acquisition using ultrasound feedback | https://ieeexplore.ieee.org/document/9196736/ | [
"M.K. Welleweerd",
"A.G. de Groot",
"S.O.H. de Looijer",
"F.J. Siepel",
"S. Stramigioli",
"M.K. Welleweerd",
"A.G. de Groot",
"S.O.H. de Looijer",
"F.J. Siepel",
"S. Stramigioli"
] | Current challenges in automated robotic breast ultrasound (US) acquisitions include keeping acoustic coupling between the breast and the US probe, minimizing tissue deformations and safety. In this paper, we present how an autonomous 3D breast US acquisition can be performed utilizing a 7DOF robot equipped with a linear US transducer. Robotic 3D breast US acquisitions would increase the diagnostic... |
Robust and Accurate 3D Curve to Surface Registration with Tangent and Normal Vectors | https://ieeexplore.ieee.org/document/9196923/ | [
"Zhe Min",
"Delong Zhu",
"Max Q.-H. Meng",
"Zhe Min",
"Delong Zhu",
"Max Q.-H. Meng"
] | This paper presents a robust and accurate approach for the rigid registration of pre-operative and intraoperative point sets in image-guided surgery (IGS). Three challenges are identified in the pre-to-intraoperative registration: the intra-operative 3D data (usually forms a 3D curve in space) (1) is often contaminated with noise and outliers; (2) usually only covers a partial region of the whole ... |
Single-Shot Pose Estimation of Surgical Robot Instruments’ Shafts from Monocular Endoscopic Images | https://ieeexplore.ieee.org/document/9196779/ | [
"Masakazu Yoshimura",
"Murilo M. Marinho",
"Kanako Harada",
"Mamoru Mitsuishi",
"Masakazu Yoshimura",
"Murilo M. Marinho",
"Kanako Harada",
"Mamoru Mitsuishi"
] | Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the nostrils. To avoid injuring the patients, a collision-avoidance algorithm that depends on having an accurate model for the poses of the instruments' shafts is use... |
End-to-End Real-time Catheter Segmentation with Optical Flow-Guided Warping during Endovascular Intervention | https://ieeexplore.ieee.org/document/9197307/ | [
"Anh Nguyen",
"Dennis Kundrat",
"Giulio Dagnino",
"Wenqiang Chi",
"Mohamed E. M. K. Abdelaziz",
"Yao Guo",
"YingLiang Ma",
"Trevor M. Y. Kwok",
"Celia Riga",
"Guang-Zhong Yang",
"Anh Nguyen",
"Dennis Kundrat",
"Giulio Dagnino",
"Wenqiang Chi",
"Mohamed E. M. K. Abdelaziz",
"Yao Guo",
"YingLiang Ma",
"Trevor M. Y. Kwok",
"Celia Riga",
"Guang-Zhong Yang"
] | Accurate real-time catheter segmentation is an important pre-requisite for robot-assisted endovascular intervention. Most of the existing learning-based methods for catheter segmentation and tracking are only trained on smallscale datasets or synthetic data due to the difficulties of ground-truth annotation. Furthermore, the temporal continuity in intraoperative imaging sequences is not fully util... |
Pathological Airway Segmentation with Cascaded Neural Networks for Bronchoscopic Navigation | https://ieeexplore.ieee.org/document/9196756/ | [
"Hanxiao Zhang",
"Mali Shen",
"Pallav L Shah",
"Guang-Zhong Yang",
"Hanxiao Zhang",
"Mali Shen",
"Pallav L Shah",
"Guang-Zhong Yang"
] | Robotic bronchoscopic intervention requires detailed 3D airway maps for both localisation and enhanced visualisation, especially at peripheral airways. Patient-specific airway maps can be generated from preoperative chest CT scans. Due to pathological abnormalities and anatomical variations, automatically delineating the airway tree with distal branches is a challenging task. In the paper, we prop... |
Design of 3D-printed assembly mechanisms based on special wooden joinery techniques and its application to a robotic hand | https://ieeexplore.ieee.org/document/9197475/ | [
"Akihiro Katsumaru",
"Ryuta Ozawa",
"Akihiro Katsumaru",
"Ryuta Ozawa"
] | Recently, it has become possible to easily design and fabricate robotic systems in the laboratory and at home due to the recent development of 3D printer technology. On the other hand, the strength of the plastic materials used in reasonably priced 3D printers and the accuracy of the printed parts are generally low. These problems affect the part-joining quality. Therefore, this paper describes a ... |
Parallel gripper with displacement-magnification mechanism and extendable finger mechanism | https://ieeexplore.ieee.org/document/9196746/ | [
"Junya Tanaka",
"Atsushi Sugahara",
"Junya Tanaka",
"Atsushi Sugahara"
] | We propose a gripper displacement-magnification mechanism and an extendable finger mechanism, both of which can be attached to a commercially available parallel gripper. We then verify the operation of the mechanism in order to expand applications of the parallel gripper. The displacement-magnification mechanism has a stacked rack-and-pinion system that doubles displacement. The extendable finger ... |
A Shape Memory Polymer Adhesive Gripper For Pick-and-Place Applications | https://ieeexplore.ieee.org/document/9197511/ | [
"ChangHee Son",
"Seok Kim",
"ChangHee Son",
"Seok Kim"
] | Over the past few years, shape memory polymer (SMP) has been extensively studied in terms of its remarkable reversible dry adhesive properties and related smart adhesive applications. However, its exceptional properties have not been exploited for further opportunities such as pick-and-place applications, which would otherwise advance the robotic manipulation. This work explores the use of an SMP ... |
Multi-person Pose Tracking using Sequential Monte Carlo with Probabilistic Neural Pose Predictor | https://ieeexplore.ieee.org/document/9196509/ | [
"Masashi Okada",
"Shinji Takenaka",
"Tadahiro Taniguchi",
"Masashi Okada",
"Shinji Takenaka",
"Tadahiro Taniguchi"
] | It is an effective strategy for the multi-person pose tracking task in videos to employ prediction and pose matching in a frame-by-frame manner. For this type of approach, uncertainty-aware modeling is essential because precise prediction is impossible. However, previous studies have relied on only a single prediction without incorporating uncertainty, which can cause critical tracking errors if t... |
4D Generic Video Object Proposals | https://ieeexplore.ieee.org/document/9196949/ | [
"Aljoša Ošep",
"Paul Voigtlaender",
"Mark Weber",
"Jonathon Luiten",
"Bastian Leibe",
"Aljoša Ošep",
"Paul Voigtlaender",
"Mark Weber",
"Jonathon Luiten",
"Bastian Leibe"
] | Many high-level video understanding methods require input in the form of object proposals. Currently, such proposals are predominantly generated with the help of neural networks that were trained for detecting and segmenting a set of known object classes, which limits their applicability to cases where all objects of interest are represented in the training set. We propose an approach that can rel... |
Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects | https://ieeexplore.ieee.org/document/9196770/ | [
"Agniva Sengupta",
"Romain Lagneau",
"Alexandre Krupa",
"Eric Marchand",
"Maud Marchal",
"Agniva Sengupta",
"Romain Lagneau",
"Alexandre Krupa",
"Eric Marchand",
"Maud Marchal"
] | In this paper, we propose a novel method to simultaneously track the deformation of soft objects and estimate their elasticity parameters. The tracking of the deformable object is performed by combining the visual information captured by a RGB-D sensor with interactive Finite Element Method simulations of the object. The visual information is more particularly used to distort the simulated object.... |
AVOT: Audio-Visual Object Tracking of Multiple Objects for Robotics | https://ieeexplore.ieee.org/document/9197528/ | [
"Justin Wilson",
"Ming C. Lin",
"Justin Wilson",
"Ming C. Lin"
] | Existing state-of-the-art object tracking can run into challenges when objects collide, occlude, or come close to one another. These visually based trackers may also fail to differentiate between objects with the same appearance but different materials. Existing methods may stop tracking or incorrectly start tracking another object. These failures are uneasy for trackers to recover from since they... |
Efficient Pig Counting in Crowds with Keypoints Tracking and Spatial-aware Temporal Response Filtering | https://ieeexplore.ieee.org/document/9197211/ | [
"Guang Chen",
"Shiwen Shen",
"Longyin Wen",
"Si Luo",
"Liefeng Bo",
"Guang Chen",
"Shiwen Shen",
"Longyin Wen",
"Si Luo",
"Liefeng Bo"
] | Pig counting is a crucial task for large-scale pig farming. Pigs are usually visually counted by human. But this process is very time-consuming and error-prone. Few studies in literature developed automated pig counting method. The existing works only focused on pig counting using single image, and its level of accuracy faced challenges due to pig movements, occlusion and overlapping. Especially, ... |
6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints | https://ieeexplore.ieee.org/document/9196679/ | [
"Chen Wang",
"Roberto Martín-Martín",
"Danfei Xu",
"Jun Lv",
"Cewu Lu",
"Li Fei-Fei",
"Silvio Savarese",
"Yuke Zhu",
"Chen Wang",
"Roberto Martín-Martín",
"Danfei Xu",
"Jun Lv",
"Cewu Lu",
"Li Fei-Fei",
"Silvio Savarese",
"Yuke Zhu"
] | We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to compactly represent an object by a handful of 3D keypoints, based on which the interframe motion of an object instance can be estimated through keypoint matching. Thes... |
Designing Ferromagnetic Soft Robots (FerroSoRo) with Level-Set-Based Multiphysics Topology Optimization | https://ieeexplore.ieee.org/document/9197457/ | [
"Jiawei Tian",
"Xuanhe Zhao",
"Xianfeng David Gu",
"Shikui Chen",
"Jiawei Tian",
"Xuanhe Zhao",
"Xianfeng David Gu",
"Shikui Chen"
] | Soft active materials can generate flexible locomotion and change configurations through large deformations when subjected to an external environmental stimulus. They can be engineered to design 'soft machines' such as soft robots, compliant actuators, flexible electronics, or bionic medical devices. By embedding ferromagnetic particles into soft elastomer matrix, the ferromagnetic soft matter can... |
Exoskeleton-covered soft finger with vision-based proprioception and tactile sensing | https://ieeexplore.ieee.org/document/9197369/ | [
"Yu She",
"Sandra Q. Liu",
"Peiyu Yu",
"Edward Adelson",
"Yu She",
"Sandra Q. Liu",
"Peiyu Yu",
"Edward Adelson"
] | Soft robots offer significant advantages in adaptability, safety, and dexterity compared to conventional rigid-body robots. However, it is challenging to equip soft robots with accurate proprioception and tactile sensing due to their high flexibility and elasticity. In this work, we describe the development of a vision-based proprioceptive and tactile sensor for soft robots called GelFlex, which i... |
Tuning the Energy Landscape of Soft Robots for Fast and Strong Motion | https://ieeexplore.ieee.org/document/9196737/ | [
"Jiefeng Sun",
"Brandon Tighe",
"Jianguo Zhao",
"Jiefeng Sun",
"Brandon Tighe",
"Jianguo Zhao"
] | Soft robots demonstrate great potential compared with traditional rigid robots owing to their inherently soft body structures. Although researchers have made tremendous progress in recent years, existing soft robots are in general plagued by a main issue: slow speeds and small forces. In this work, we aim to address this issue by actively designing the energy landscape of the soft body: the total ... |
REBOund: Untethered Origami Jumping Robot with Controllable Jump Height | https://ieeexplore.ieee.org/document/9196534/ | [
"Jaimie Carlson",
"Jason Friedman",
"Christopher Kim",
"Cynthia Sung",
"Jaimie Carlson",
"Jason Friedman",
"Christopher Kim",
"Cynthia Sung"
] | Origami robots are well-suited for jumping maneuvers because of their light weight and ability to incorporate actuation and control strategies directly into the robot body. However, existing origami robots often model fold patterns as rigidly foldable and fail to take advantage of deformation in an origami sheet for potential energy storage. In this paper, we consider a parametric origami tessella... |
Motion Intensity Extraction Scheme for Simultaneous Recognition of Wrist/Hand Motions | https://ieeexplore.ieee.org/document/9197467/ | [
"Minjae Kim",
"Wan Kyun Chung",
"Keehoon Kim",
"Minjae Kim",
"Wan Kyun Chung",
"Keehoon Kim"
] | Surface electromyography contains muscular information representing gestures and corresponding forces. However, conventional sEMG-based motion recognition methods, such as pattern classification and regression, have intrinsic limitations due to the complex characteristics of sEMG signals. In this paper, motion intensity, a highly selective sEMG feature proportional to the level of muscle contracti... |
Simultaneous Online Motion Discrimination and Evaluation of Whole-body Exercise by Synergy Probes for Home Rehabilitation | https://ieeexplore.ieee.org/document/9197232/ | [
"Felipe M. Ramos",
"Mitsuhiro Hayashibe",
"Felipe M. Ramos",
"Mitsuhiro Hayashibe"
] | The development of algorithms for motion discrimination in home rehabilitation sessions poses numerous challenges. Recent studies have used the concept of synergies to discriminate a set of movements. However, the discrimination depends on the correlation of the reconstructed movement with the online data, and the training data requires well-defined movements. In this paper, we introduced the conc... |
Validation of a Forward Kinematics Based Controller for a mobile Tethered Pelvic Assist Device to Augment Pelvic Forces during Walking | https://ieeexplore.ieee.org/document/9196585/ | [
"Danielle M. Stramel",
"Sunil K. Agrawal",
"Danielle M. Stramel",
"Sunil K. Agrawal"
] | For those with irregular gait, re-calibration of motor control strategies and retraining of coordination are key goals. Thoughtful external forces or resistances during repetitive tasks can reprogram motor control patterns and strategies. Prior work in our lab has utilized this theory to improve gait in various patient groups using the Tethered Pelvic Assist Device (TPAD), a treadmill-based roboti... |
Model Learning for Control of a Paralyzed Human Arm with Functional Electrical Stimulation | https://ieeexplore.ieee.org/document/9196992/ | [
"Derek N. Wolf",
"Zinnia A. Hall",
"Eric M. Schearer",
"Derek N. Wolf",
"Zinnia A. Hall",
"Eric M. Schearer"
] | Functional electrical stimulation (FES) is a promising technique for restoring reaching ability to individuals with tetraplegia. To this point, the complexities of goal-directed reaching motions and the shoulder-arm complex have prevented the realization of this potential in full-arm 3D reaching tasks. We trained a Gaussian process regression model to form the basis of a feedforward-feedback contr... |
Transient Behavior and Predictability in Manipulating Complex Objects | https://ieeexplore.ieee.org/document/9196977/ | [
"Rashida Nayeem",
"Salah Bazzi",
"Neville Hogan",
"Dagmar Sternad",
"Rashida Nayeem",
"Salah Bazzi",
"Neville Hogan",
"Dagmar Sternad"
] | Relatively little work in human and robot control has examined the control of underactuated objects with internal dynamics, such as transporting a cup of coffee, a task that presents little problems for humans. This study examined how humans move a `cup of coffee' with a view to identify principles that may be useful for robot control. The specific focus was on how humans choose initial conditions... |
A Variable-Fractional Order Admittance Controller for pHRI | https://ieeexplore.ieee.org/document/9197288/ | [
"Doganay Sirintuna",
"Yusuf Aydin",
"Ozan Caldiran",
"Ozan Tokatli",
"Volkan Patoglu",
"Cagatay Basdogan",
"Doganay Sirintuna",
"Yusuf Aydin",
"Ozan Caldiran",
"Ozan Tokatli",
"Volkan Patoglu",
"Cagatay Basdogan"
] | In today's automation driven manufacturing environments, emerging technologies like cobots (collaborative robots) and augmented reality interfaces can help integrating humans into the production workflow to benefit from their adaptability and cognitive skills. In such settings, humans are expected to work with robots side by side and physically interact with them. However, the trade-off between st... |
Assistive Gym: A Physics Simulation Framework for Assistive Robotics | https://ieeexplore.ieee.org/document/9197411/ | [
"Zackory Erickson",
"Vamsee Gangaram",
"Ariel Kapusta",
"C. Karen Liu",
"Charles C. Kemp",
"Zackory Erickson",
"Vamsee Gangaram",
"Ariel Kapusta",
"C. Karen Liu",
"Charles C. Kemp"
] | Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical interaction between people and robots. Physics simulations have been used to optimize and train robots for physical assistance, but have typically focused on a single ... |
Learning Whole-Body Human-Robot Haptic Interaction in Social Contexts | https://ieeexplore.ieee.org/document/9196933/ | [
"Joseph Campbell",
"Katsu Yamane",
"Joseph Campbell",
"Katsu Yamane"
] | This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing LfD frameworks suffers in such interactions due to the high dimensionality and spatiotemporal sparsity of the demonstration data. We show that by leveraging th... |
Human Preferences in Using Damping to Manage Singularities During Physical Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9197093/ | [
"Marc G. Carmichael",
"Richardo Khonasty",
"Stefano Aldini",
"Dikai Liu",
"Marc G. Carmichael",
"Richardo Khonasty",
"Stefano Aldini",
"Dikai Liu"
] | When a robot manipulator approaches a kinematic singular configuration, control strategies need to be employed to ensure safe and robust operation. If this manipulator is being controlled by a human through physical human-robot collaboration, the choice of strategy for handling singularities can have a significant effect on the feelings and impressions of the user. To date the preferences of human... |
MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions | https://ieeexplore.ieee.org/document/9197115/ | [
"Wansoo Kim",
"Pietro Balatti",
"Edoardo Lamon",
"Arash Ajoudani",
"Wansoo Kim",
"Pietro Balatti",
"Edoardo Lamon",
"Arash Ajoudani"
] | The objective of this paper is to create a new collaborative robotic system that subsumes the advantages of mobile manipulators and supernumerary limbs. By exploiting the reconfiguration potential of a MObile Collaborative robot Assistant (MOCA), we create a collaborative robot that can function autonomously, in close proximity to humans, or be physically coupled to the human counterpart as a supe... |
Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation | https://ieeexplore.ieee.org/document/9197420/ | [
"Ribin Balachandran",
"Jee-Hwan Ryu",
"Mikael Jorda",
"Christian Ott",
"Alin Albu-Schaeffer",
"Ribin Balachandran",
"Jee-Hwan Ryu",
"Mikael Jorda",
"Christian Ott",
"Alin Albu-Schaeffer"
] | In the present paper, we first adopt explicit force control from general robotics and embed it into teleoperation systems to enhance the transparency by reducing the effect of the perceived inertia to the human operator and simultaneously improve contact perception. To ensure stability of the proposed teleoperation system considering time-delays, we propose a sequential design procedure based on t... |
Evaluation of an Exoskeleton-based Bimanual Teleoperation Architecture with Independently Passivated Slave Devices | https://ieeexplore.ieee.org/document/9197079/ | [
"Francesco Porcini",
"Domenico Chiaradia",
"Simone Marcheschi",
"Massimiliano Solazzi",
"Antonio Frisoli",
"Francesco Porcini",
"Domenico Chiaradia",
"Simone Marcheschi",
"Massimiliano Solazzi",
"Antonio Frisoli"
] | Search and rescue robotics is becoming a relevant topic in the last years and the growing number of robotic platforms and dedicated projects is the evidence of the interest in this area. In this context, the possibility to drive a remote robot with an exoskeleton is a promising strategy to enhance dexterity, reduce operator effort and save time. However, the use of haptic feedback (bilateral teleo... |
Hand-worn Haptic Interface for Drone Teleoperation | https://ieeexplore.ieee.org/document/9196664/ | [
"Matteo Macchini",
"Thomas Havy",
"Antoine Weber",
"Fabrizio Schiano",
"Dario Floreano",
"Matteo Macchini",
"Thomas Havy",
"Antoine Weber",
"Fabrizio Schiano",
"Dario Floreano"
] | Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can represent a bottleneck for operation in several conditions. In this work, we present a wearable interface for drone teleoperation and its evaluat... |
Toward Human-like Teleoperated Robot Motion: Performance and Perception of a Choreography-inspired Method in Static and Dynamic Tasks for Rapid Pose Selection of Articulated Robots | https://ieeexplore.ieee.org/document/9196742/ | [
"A. Bushman",
"M. Asselmeier",
"J. Won",
"A. LaViers",
"A. Bushman",
"M. Asselmeier",
"J. Won",
"A. LaViers"
] | In some applications, operators may want to create fluid, human-like motion on a remotely-operated robot, for example, a device used for remote telepresence. This paper examines two methods of controlling the pose of a Baxter robot via an Xbox One controller. The first method is a joint- by-joint (JBJ) method in which one joint of each limb is specified in sequence. The second method of control, n... |
Helping Robots Learn: A Human-Robot Master-Apprentice Model Using Demonstrations via Virtual Reality Teleoperation | https://ieeexplore.ieee.org/document/9196754/ | [
"Joseph DelPreto",
"Jeffrey I. Lipton",
"Lindsay Sanneman",
"Aidan J. Fay",
"Christopher Fourie",
"Changhyun Choi",
"Daniela Rus",
"Joseph DelPreto",
"Jeffrey I. Lipton",
"Lindsay Sanneman",
"Aidan J. Fay",
"Christopher Fourie",
"Changhyun Choi",
"Daniela Rus"
] | As artificial intelligence becomes an increasingly prevalent method of enhancing robotic capabilities, it is important to consider effective ways to train these learning pipelines and to leverage human expertise. Working towards these goals, a master-apprentice model is presented and is evaluated during a grasping task for effectiveness and human perception. The apprenticeship model augments self-... |
A Framework for Interactive Virtual Fixture Generation for Shared Teleoperation in Unstructured Environments | https://ieeexplore.ieee.org/document/9196579/ | [
"Vitalii Pruks",
"Jee-Hwan Ryu",
"Vitalii Pruks",
"Jee-Hwan Ryu"
] | Virtual fixtures (VFs) improve human operator performance in teleoperation scenarios. However, the generation of VFs is challenging, especially in unstructured environments. In this work, we introduce a framework for the interactive generation of VF. The method is based on the observation that a human can easily understand just by looking at the remote environment which VF could help in task execu... |
Local Obstacle-Skirting Path Planning for a Fast Bi-steerable Rover using Bézier Curves | https://ieeexplore.ieee.org/document/9197563/ | [
"Mohamed Fnadi",
"Wenqian Du",
"Rafael Gomes da Silva",
"Frédéric Plumet",
"Falz Benamar",
"Mohamed Fnadi",
"Wenqian Du",
"Rafael Gomes da Silva",
"Frédéric Plumet",
"Falz Benamar"
] | This paper focuses on local path planning for obstacle avoidance tasks dedicated to off-road mobile robots. This approach calculates a new local path for the vehicle using a set of cubic Bezier curves once the safety distance is not respected; otherwise, the vehicle follows the global reference path which is defined off-line. Two basic steps are used to determine this new path. Firstly, some signi... |
Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators | https://ieeexplore.ieee.org/document/9196759/ | [
"Yitao Ding",
"Ulrike Thomas",
"Yitao Ding",
"Ulrike Thomas"
] | Collision avoidance is a key technology towards safe human-robot interaction, especially on-line and fastreacting motions are required. Skins with proximity sensors mounted on the robot's outer shell provide an interesting approach to occlusion-free and low-latency perception. However, collision avoidance algorithms which make extensive use of these properties for fast-reacting motions have not ye... |
Predicting Obstacle Footprints from 2D Occupancy Maps by Learning from Physical Interactions | https://ieeexplore.ieee.org/document/9197474/ | [
"Marina Kollmitz",
"Daniel Büscher",
"Wolfram Burgard",
"Marina Kollmitz",
"Daniel Büscher",
"Wolfram Burgard"
] | Horizontally scanning 2D laser rangefinders are a popular approach for indoor robot localization because of the high accuracy of the sensors and the compactness of the required 2D maps. As the scanners in this configuration only provide information about one slice of the environment, the measurements typically do not capture the full extent of a large variety of obstacles, including chairs or tabl... |
Path Planning in Dynamic Environments using Generative RNNs and Monte Carlo Tree Search | https://ieeexplore.ieee.org/document/9196631/ | [
"Stuart Eiffert",
"He Kong",
"Navid Pirmarzdashti",
"Salah Sukkarieh",
"Stuart Eiffert",
"He Kong",
"Navid Pirmarzdashti",
"Salah Sukkarieh"
] | State of the art methods for robotic path planning in dynamic environments, such as crowds or traffic, rely on hand crafted motion models for agents. These models often do not reflect interactions of agents in real world scenarios. To overcome this limitation, this paper proposes an integrated path planning framework using generative Recurrent Neural Networks within a Monte Carlo Tree Search (MCTS... |
Safety-Critical Rapid Aerial Exploration of Unknown Environments | https://ieeexplore.ieee.org/document/9197416/ | [
"Andrew Singletary",
"Thomas Gurriet",
"Petter Nilsson",
"Aaron D. Ames",
"Andrew Singletary",
"Thomas Gurriet",
"Petter Nilsson",
"Aaron D. Ames"
] | This paper details a novel approach to collision avoidance for aerial vehicles that enables high-speed flight in uncertain environments. This framework is applied at the controller level and provides safety regardless of the planner that is used. The method is shown to be robust to state uncertainty and disturbances, and is computed entirely online utilizing the full nonlinear system dynamics. The... |
Reconfigurable Magnetic Microswarm for Thrombolysis under Ultrasound Imaging | https://ieeexplore.ieee.org/document/9197432/ | [
"Qianqian Wang",
"Ben Wang",
"Jiangfan Yu",
"Kathrin Schweizer",
"Bradley J. Nelson",
"Li Zhang",
"Qianqian Wang",
"Ben Wang",
"Jiangfan Yu",
"Kathrin Schweizer",
"Bradley J. Nelson",
"Li Zhang"
] | We propose thrombolysis using a magnetic nanoparticle microswarm with tissue plasminogen activator (tPA) under ultrasound imaging. The microswarm is generated in blood using an oscillating magnetic field and can be navigated with locomotion along both the long and short axis. By modulating the input field, the aspect ratio of the microswarm can be reversibly tuned, showing the ability to adapt to ... |
Improving Optical Micromanipulation with Force-Feedback Bilateral Coupling | https://ieeexplore.ieee.org/document/9197424/ | [
"Edison Gerena",
"Florent Legendre",
"Youen Vitry",
"Stéphane Régnier",
"Sinan Haliyo",
"Edison Gerena",
"Florent Legendre",
"Youen Vitry",
"Stéphane Régnier",
"Sinan Haliyo"
] | Micromanipulation is challenging due to the specific physical effects governing the microworld. Interactive approaches using only visual feedback are limited to the 2D image of the microscope, and have forcibly lower bandwidth. Recently, haptic feedback teleoperation systems have been developed to try to overcome those difficulties. This paper explores the case of an optical tweezers platform coup... |
Maneuver at Micro Scale: Steering by Actuation Frequency Control in Micro Bristle Robots | https://ieeexplore.ieee.org/document/9196694/ | [
"Zhijian Hao",
"DeaGyu Kim",
"Ali Reza Mohazab",
"Azadeh Ansari",
"Zhijian Hao",
"DeaGyu Kim",
"Ali Reza Mohazab",
"Azadeh Ansari"
] | This paper presents a novel steering mechanism, which leads to frequency-controlled locomotion demonstrated for the first time in micro bristle robots. The miniaturized robots are 3D-printed, 12 mm × 8 mm × 6 mm in size, with bristle feature sizes down to 400 µm. The robots can be steered by utilizing the distinct resonance behaviors of the asymmetrical bristle sets. The left and right sets of the... |
Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr | https://ieeexplore.ieee.org/document/9197436/ | [
"Kaushik Jayaram",
"Jennifer Shum",
"Samantha Castellanos",
"E. Farrell Helbling",
"Robert J. Wood",
"Kaushik Jayaram",
"Jennifer Shum",
"Samantha Castellanos",
"E. Farrell Helbling",
"Robert J. Wood"
] | Here we present HAMR-Jr, a 22.5mm, 320mg quadrupedal microrobot. With eight independently actuated degrees of freedom, HAMR-Jr is, to our knowledge, the most mechanically dexterous legged robot at its scale and is capable of high-speed locomotion (13.91bodylengthss-1) at a variety of stride frequencies (1-200Hz) using multiple gaits. We achieved this using a design and fabrication process that is ... |
Reality as a simulation of reality: robot illusions, fundamental limits, and a physical demonstration | https://ieeexplore.ieee.org/document/9196761/ | [
"Dylan A. Shell",
"Jason M. O’Kane",
"Dylan A. Shell",
"Jason M. O’Kane"
] | We consider problems in which robots conspire to present a view of the world that differs from reality. The inquiry is motivated by the problem of validating robot behavior physically despite there being a discrepancy between the robots we have at hand and those we wish to study, or the environment for testing that is available versus that which is desired, or other potential mismatches in this ve... |
Finding Missing Skills for High-Level Behaviors | https://ieeexplore.ieee.org/document/9197223/ | [
"Adam Pacheck",
"Salar Moarref",
"Hadas Kress-Gazit",
"Adam Pacheck",
"Salar Moarref",
"Hadas Kress-Gazit"
] | Recently, Linear Temporal Logic (LTL) has been used as a formalism for defining high-level robot tasks, and LTL synthesis has been used to automatically create correct-by-construction robot control. The underlying premise of this approach is that the robot has a set of actions, or skills, that can be composed to achieve the high- level task. In this paper we consider LTL specifications that cannot... |
Near-Optimal Reactive Synthesis Incorporating Runtime Information | https://ieeexplore.ieee.org/document/9196581/ | [
"Suda Bharadwaj",
"Abraham P. Vinod",
"Rayna Dimitrova",
"Ufuk Topcu",
"Suda Bharadwaj",
"Abraham P. Vinod",
"Rayna Dimitrova",
"Ufuk Topcu"
] | We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a given performance metric. We incorporate task-critical information, that is only available at runtime, into the strategy synthesis in order to improve performance. Existing approaches to utilising such time-varying information require online re... |
Control Synthesis from Linear Temporal Logic Specifications using Model-Free Reinforcement Learning | https://ieeexplore.ieee.org/document/9196796/ | [
"Alper Kamil Bozkurt",
"Yu Wang",
"Michael M. Zavlanos",
"Miroslav Pajic",
"Alper Kamil Bozkurt",
"Yu Wang",
"Michael M. Zavlanos",
"Miroslav Pajic"
] | We present a reinforcement learning (RL) frame-work to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP). Specifically, we learn a policy that maximizes the probability of satisfying the LTL formula without learning the transition probabilities. We introduce a novel rewardin... |
R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations | https://ieeexplore.ieee.org/document/9196990/ | [
"Guillaume Jeanneau",
"Vincent Bégoc",
"Sébastien Briot",
"Alexandre Goldsztejn",
"Guillaume Jeanneau",
"Vincent Bégoc",
"Sébastien Briot",
"Alexandre Goldsztejn"
] | This paper introduces an intrinsically safe parallel manipulator dedicated to fast pick-and-place operations, called R-Min. It has been designed to reduce the risk of injury during a collision with a human operator, while maintaining high speed and acceleration. The proposed architecture is based on a modification of the well-known planar five-bar mechanism, where additional passive joints are int... |
High-Flexibility Locomotion and Whole-Torso Control for a Wheel-Legged Robot on Challenging Terrain | https://ieeexplore.ieee.org/document/9197526/ | [
"Kang Xu",
"Shoukun Wang",
"Xiuwen Wang",
"Junzheng Wang",
"Zhihua Chen",
"Daohe Liu",
"Kang Xu",
"Shoukun Wang",
"Xiuwen Wang",
"Junzheng Wang",
"Zhihua Chen",
"Daohe Liu"
] | In this paper, we propose a parallel six-wheel-legged robot that can traverse irregular terrain while carrying objectives to do heavy-duty work. This robot is equipped with six Stewart platforms as legs and tightly integrates the additional degrees of freedom introduced by the wheels. The presented control strategy with physical system used to adapt the diverse degrees of each leg to irregular ter... |
The Prince’s tears, a large cable-driven parallel robot for an artistic exhibition | https://ieeexplore.ieee.org/document/9197011/ | [
"J-P. Merlet",
"Y. Papegay",
"Anne-Valérie Gasc",
"J-P. Merlet",
"Y. Papegay",
"Anne-Valérie Gasc"
] | This paper presents the development and results of a large 3 d.o.f cable-driven parallel robot (CDPR) that has been extensively used between June and August 2019 for an artistic exhibition. The purpose of the exhibition was to 3D print a wall of glass powder, which will slowly collapse after the deposit of each layer. Positioning control on the assigned trajectory was an issue because of the CDPR ... |
Singularity analysis and reconfiguration mode of the 3-CRS parallel manipulator | https://ieeexplore.ieee.org/document/9197337/ | [
"Chedli Bouzgarrou",
"Adrien Koessler",
"Nicolas Bouton",
"Chedli Bouzgarrou",
"Adrien Koessler",
"Nicolas Bouton"
] | The 3-CRS manipulator is an original parallel mechanism having 6 degrees of freedom (DOFs) with only 3 limbs. This mechanism uses a motorized cylindrical joint per limb. This new paradigm of actuation opens research fields on new families of robots that should particularly interest the parallel robotics community. According to its dimensional synthesis, this mechanism can have remarkable kinematic... |
Trajectory optimization for a class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family | https://ieeexplore.ieee.org/document/9197048/ | [
"Nitish Kumar",
"Stelian Coros",
"Nitish Kumar",
"Stelian Coros"
] | We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop kinematic chains consisting of revolute joints which can be either passive or actuated. We also describe a novel trajectory optimization method which is general with r... |
Development of Body Rotational Wheeled Robot and its Verification of Effectiveness | https://ieeexplore.ieee.org/document/9197047/ | [
"Byeong-Seop Sim",
"Kun-Jung Kim",
"Kee-Ho Yu",
"Byeong-Seop Sim",
"Kun-Jung Kim",
"Kee-Ho Yu"
] | A wheeled robot operating on various terrains such as scattered obstacles and slopes is required to cope with and overcome the driving environment. In this paper, in order to overcome a step-type obstacle and to steadily ascend on the slope, the main body rotation mechanism, which controls the load distribution on the robot wheels was proposed for a wheel-drive robot. By rotating the center of the... |
Radar Sensors in Collaborative Robotics: Fast Simulation and Experimental Validation | https://ieeexplore.ieee.org/document/9197180/ | [
"Christian Stetco",
"Barnaba Ubezio",
"Stephan Mühlbacher-Karrer",
"Hubert Zangl",
"Christian Stetco",
"Barnaba Ubezio",
"Stephan Mühlbacher-Karrer",
"Hubert Zangl"
] | With the availability of small system in package realizations, radar systems become more and more attractive for a variety of applications in robotics, in particular also for collaborative robotics. As the simulation of robot systems in realistic scenarios has become an important tool, not only for design and optimization, but also e.g. for machine learning approaches, realistic simulation models ... |
Transferable Task Execution from Pixels through Deep Planning Domain Learning | https://ieeexplore.ieee.org/document/9196597/ | [
"Kei Kase",
"Chris Paxton",
"Hammad Mazhar",
"Tetsuya Ogata",
"Dieter Fox",
"Kei Kase",
"Chris Paxton",
"Hammad Mazhar",
"Tetsuya Ogata",
"Dieter Fox"
] | While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new problems given only a domain definition and a symbolic goal, but these approaches often struggle on the real world robotic tasks due to the challenges of groundi... |
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