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RoBiGAN: A bidirectional Wasserstein GAN approach for online robot fault diagnosis via internal anomaly detection | https://ieeexplore.ieee.org/document/9982240/ | [
"Tristan Schnell",
"Katrin Bott",
"Lennart Puck",
"Timothée Buettner",
"Arne Roennau",
"Rüdiger Dillmann",
"Tristan Schnell",
"Katrin Bott",
"Lennart Puck",
"Timothée Buettner",
"Arne Roennau",
"Rüdiger Dillmann"
] | Complex robots in challenging scenarios require constant monitoring of their state and adaptation of their behavior to ensure robustness, reliability and longevity. While known possible errors can be specifically surveilled, other prob-lems can be fully unforeseen, requiring detection systems able to identify novel faults. We detect possible faults as anomalies on various internal sensor data, uti... |
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains | https://ieeexplore.ieee.org/document/9981660/ | [
"Sharmita Dey",
"David Fan",
"Robin Schmid",
"Anushri Dixit",
"Kyohei Otsu",
"Thomas Touma",
"Arndt F. Schilling",
"Ali-Akbar Agha-Mohammadi",
"Sharmita Dey",
"David Fan",
"Robin Schmid",
"Anushri Dixit",
"Kyohei Otsu",
"Thomas Touma",
"Arndt F. Schilling",
"Ali-Akbar Agha-Mohammadi"
] | Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be resolved by adjusting the robot's locomotion by switching to more conservative and stable locomotion modes, such as crawl mode (where three feet are in contact with... |
Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes | https://ieeexplore.ieee.org/document/9981542/ | [
"Jonathan J.Y. Kim",
"Martin Urschler",
"Patricia J. Riddle",
"Jorg S. Wicker",
"Jonathan J.Y. Kim",
"Martin Urschler",
"Patricia J. Riddle",
"Jorg S. Wicker"
] | In Simultaneous Localization and Mapping (SLAM), Loop Closure Detection (LCD) is essential to minimize drift when recognizing previously visited places. Visual Bag- of-Words (vBoW) has been an LCD algorithm of choice for many state-of-the-art SLAM systems. It uses a set of visual features to provide robust place recognition but fails to perceive the semantics or spatial relationship between featur... |
Probabilistic Data Association for Semantic SLAM at Scale | https://ieeexplore.ieee.org/document/9981750/ | [
"Elad Michael",
"Tyler Summers",
"Tony A. Wood",
"Chris Manzie",
"Iman Shames",
"Elad Michael",
"Tyler Summers",
"Tony A. Wood",
"Chris Manzie",
"Iman Shames"
] | With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric features (points, lines, and planes) which are often view-point dependent and error prone in visually repetitive environments. Semantic information can improve th... |
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation | https://ieeexplore.ieee.org/document/9981256/ | [
"Yulun Tian",
"Amrit Singh Bedi",
"Alec Koppel",
"Miguel Calvo-Fullana",
"David M. Rosen",
"Jonathan P. How",
"Yulun Tian",
"Amrit Singh Bedi",
"Alec Koppel",
"Miguel Calvo-Fullana",
"David M. Rosen",
"Jonathan P. How"
] | We present the first distributed optimization al-gorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM) applications. Our method allows agents to cooperatively reconstruct a shared geometric model on a central server by fusing individual observations, but without the n... |
CFP-SLAM: A Real-time Visual SLAM Based on Coarse-to-Fine Probability in Dynamic Environments | https://ieeexplore.ieee.org/document/9981826/ | [
"Xinggang Hu",
"Yunzhou Zhang",
"Zhenzhong Cao",
"Rong Ma",
"Yanmin Wu",
"Zhiqiang Deng",
"Wenkai Sun",
"Xinggang Hu",
"Yunzhou Zhang",
"Zhenzhong Cao",
"Rong Ma",
"Yanmin Wu",
"Zhiqiang Deng",
"Wenkai Sun"
] | The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of semantic constraints and geometric constraints to deal with dynamic objects, but problems can still be raised, such as poor real-time performance, easy to treat peop... |
LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane | https://ieeexplore.ieee.org/document/9981217/ | [
"Ze Wang",
"Kailun Yang",
"Hao Shi",
"Peng Li",
"Fei Gao",
"Kaiwei Wang",
"Ze Wang",
"Kailun Yang",
"Hao Shi",
"Peng Li",
"Fei Gao",
"Kaiwei Wang"
] | Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV enables to perceive a wide range of surrounding scene elements and features. However, when the field of the camera reaches the negative half plane, one cannot si... |
SO-PFH: Semantic Object-based Point Feature Histogram for Global Localization in Parking Lot | https://ieeexplore.ieee.org/document/9981094/ | [
"Jixin Lv",
"Chao Meng",
"Yue Wang",
"Jie Sun",
"Rong Xiong",
"Shiliang Pu",
"Jixin Lv",
"Chao Meng",
"Yue Wang",
"Jie Sun",
"Rong Xiong",
"Shiliang Pu"
] | Global localization is essential for autonomous mobile systems, especially indoor applications where the GPS signal is denied. Although the appearance-based methods have been successfully applied in various localization tasks, they face various challenges such as light variation, viewpoint changing, and dynamic interference. Additionally, the appearance-based methods usually require a visual featu... |
A 2D Georeferenced Map Aided Visual-Inertial System for Precise UAV Localization | https://ieeexplore.ieee.org/document/9982254/ | [
"Mao Jun",
"Zhang Lilian",
"He Xiaofeng",
"Qu Hao",
"Hu Xiaoping",
"Mao Jun",
"Zhang Lilian",
"He Xiaofeng",
"Qu Hao",
"Hu Xiaoping"
] | Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) for geolocalization. In this paper, we propose to use a lightweight visual-inertial system with a 2D georeferenced map to obtain accurate geodetic positions for UAVs. The proposed system firstly integrates a micro inertial measurement un... |
Global Data Association for SLAM with 3D Grassmannian Manifold Objects | https://ieeexplore.ieee.org/document/9981075/ | [
"Parker C. Lusk",
"Jonathan P. How",
"Parker C. Lusk",
"Jonathan P. How"
] | Using pole and plane objects in lidar SLAM can increase accuracy and decrease map storage requirements compared to commonly-used point cloud maps. However, place recognition and geometric verification using these landmarks is challenging due to the requirement for global matching without an initial guess. Existing works typically only leverage either pole or plane landmarks, limiting application t... |
Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration | https://ieeexplore.ieee.org/document/9981251/ | [
"Yang Xu",
"Ronghao Zheng",
"Senlin Zhang",
"Meiqin Liu",
"Yang Xu",
"Ronghao Zheng",
"Senlin Zhang",
"Meiqin Liu"
] | This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always assumed the known robot poses or utilized inaccurate information metrics to approximate pose uncertain... |
Homology-Class Guided Rapidly-Exploring Random Tree For Belief Space Planning | https://ieeexplore.ieee.org/document/9981602/ | [
"Ran Hao",
"M. Cenk Çavusoğlu",
"Ran Hao",
"M. Cenk Çavusoğlu"
] | In this work, an efficient homology guided belief space planning method for obstacle-cluttered environments is presented. The proposed planner follows a two-step approach. First, a h-signature guided rapidly-exploring random tree (HRRT) algorithm is proposed to provide nominal trajecto-ries in different homology classes by constructing homology aware sub-trees in a parallel manner. The HRRT planne... |
Improving the Efficiency of Sampling-based Motion Planners via Runtime Predictions for Motion-Planning Problems with Dynamics | https://ieeexplore.ieee.org/document/9981753/ | [
"Hoang-Dung Bui",
"Yuanjie Lu",
"Erion Plaku",
"Hoang-Dung Bui",
"Yuanjie Lu",
"Erion Plaku"
] | While sampling-based approaches have made significant progress, motion planning with dynamics still poses significant challenges as the planner has to generate not only collision-free but also dynamically-feasible trajectories that enable the robot to reach its goal. To improve the efficiency of sampling-based motion planners, this paper develops a framework, termed Motion-Planning Runtime Predict... |
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning | https://ieeexplore.ieee.org/document/9981732/ | [
"Jay Kamat",
"Joaquim Ortiz-Haro",
"Marc Toussaint",
"Florian T. Pokorny",
"Andreas Orthey",
"Jay Kamat",
"Joaquim Ortiz-Haro",
"Marc Toussaint",
"Florian T. Pokorny",
"Andreas Orthey"
] | Optimal sampling based motion planning and trajectory optimization are two competing frameworks to generate optimal motion plans. Both frameworks have complementary properties: Sampling based planners are typically slow to converge, but provide optimality guarantees. Trajectory optimizers, however, are typically fast to converge, but do not provide global optimality guarantees in nonconvex problem... |
Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model | https://ieeexplore.ieee.org/document/9981842/ | [
"Pengda Mao",
"Quan Quan",
"Pengda Mao",
"Quan Quan"
] | This paper proposes a model of a class of regular virtual tubes that can generate safe, feasible, and smooth space for a robotics swarm in an obstacle-dense environment, especially for a drone swarm based on the flocking model. The regular principles are first proposed, and the regular conditions are then formulated based on the principles. A method to obtain a regular virtual tube is also present... |
Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space | https://ieeexplore.ieee.org/document/9981906/ | [
"Iori Kumagai",
"Masaki Murooka",
"Mitsuharu Morisawa",
"Fumio Kanehiro",
"Iori Kumagai",
"Masaki Murooka",
"Mitsuharu Morisawa",
"Fumio Kanehiro"
] | In this paper, we propose a trajectory planning framework for a robot that exploits a pre-computed database of end-effector trajectories as the guidance of optimization-based inverse kinematics. We constructed a reachable graph of a robot offline, which represents feasible end-effector paths with corresponding configurations. When performing the online trajectory planning, we applied A* search to ... |
Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise | https://ieeexplore.ieee.org/document/9981881/ | [
"Manolis Chiou",
"Georgios-Theofanis Epsimos",
"Grigoris Nikolaou",
"Pantelis Pappas",
"Giannis Petousakis",
"Stefan Mühl",
"Rustam Stolkin",
"Manolis Chiou",
"Georgios-Theofanis Epsimos",
"Grigoris Nikolaou",
"Pantelis Pappas",
"Giannis Petousakis",
"Stefan Mühl",
"Rustam Stolkin"
] | This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. We present a systematic description of the equipment used; the... |
Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty | https://ieeexplore.ieee.org/document/9981597/ | [
"Paolo De Petris",
"Mihir Dharmadhikari",
"Huan Nguyen",
"Kostas Alexis",
"Paolo De Petris",
"Mihir Dharmadhikari",
"Huan Nguyen",
"Kostas Alexis"
] | This paper contributes a novel strategy towards risk-aware motion planning for collision-tolerant aerial robots subject to localization uncertainty. Attuned to the fact that micro aerial vehicles are often tasked to navigate within GPS-denied, possibly unknown, confined and obstacle-filled environments the proposed method exploits collision-tolerance at the robot design level to mitigate the risks... |
Safe Drone Flight with Time-Varying Backup Controllers | https://ieeexplore.ieee.org/document/9981741/ | [
"Andrew Singletary",
"Aiden Swann",
"Ivan Dario Jimenez Rodriguez",
"Aaron D. Ames",
"Andrew Singletary",
"Aiden Swann",
"Ivan Dario Jimenez Rodriguez",
"Aaron D. Ames"
] | The weight, space, and power limitations of small aerial vehicles often prevent the application of modern control techniques without significant model simplifications. Moreover, high-speed agile behavior, such as that exhibited in drone racing, make these simplified models too unreliable for safety-critical control. In this work, we introduce the concept of time-varying backup controllers (TBCs): ... |
Mobile Manipulation Leveraging Multiple Views | https://ieeexplore.ieee.org/document/9981277/ | [
"David Watkins-Valls",
"Peter K Allen",
"Henrique Maia",
"Madhavan Seshadri",
"Jonathan Sanabria",
"Nicholas Waytowich",
"Jacob Varley",
"David Watkins-Valls",
"Peter K Allen",
"Henrique Maia",
"Madhavan Seshadri",
"Jonathan Sanabria",
"Nicholas Waytowich",
"Jacob Varley"
] | While both navigation and manipulation are chal-lenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and shape completion methods to manipulate an object with a mobile robot. Our system utilizes uncertainty in the initial estimation of a manipulation target to cal... |
Multi-directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System | https://ieeexplore.ieee.org/document/9981325/ | [
"Habib Ahmed",
"Son Thanh Nguyen",
"Duc La",
"Chuong Phuoc Le",
"Hung Manh La",
"Habib Ahmed",
"Son Thanh Nguyen",
"Duc La",
"Chuong Phuoc Le",
"Hung Manh La"
] | This paper presents a novel design of a multi-directional bicycle robot, which is developed for the inspection of steel structures, in particular, steel-reinforced bridges. The locomotion concept is based on arranging two magnetic wheels in a bicycle-like configuration with two independent steering actuators. This configuration allows the robot to possess multi-directional mobility. An additional ... |
Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion | https://ieeexplore.ieee.org/document/9981610/ | [
"Ryo Okumura",
"Nobuki Nishio",
"Tadahiro Taniguchi",
"Ryo Okumura",
"Nobuki Nishio",
"Tadahiro Taniguchi"
] | An industrial connector insertion task requires submillimeter positioning and grasp pose compensation for a plug. Thus, highly accurate estimation of the relative pose between a plug and socket is fundamental for achieving the task. World models are promising technologies for visuomotor control because they obtain appropriate state representation to jointly optimize feature extraction and latent d... |
Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints | https://ieeexplore.ieee.org/document/9981235/ | [
"Huixu Dong",
"Yue Feng",
"Chen Qiu",
"Ye Pan",
"Miao He",
"I-Ming Chen",
"Huixu Dong",
"Yue Feng",
"Chen Qiu",
"Ye Pan",
"Miao He",
"I-Ming Chen"
] | We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the s... |
Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis | https://ieeexplore.ieee.org/document/9982148/ | [
"Connor L. Yako",
"Shenli Yuan",
"J. Kenneth Salisbury",
"Connor L. Yako",
"Shenli Yuan",
"J. Kenneth Salisbury"
] | In this paper we present a potential energy map based approach that provides a framework for the design and control of a robotic grasper. Unlike other potential energy map approaches, our framework considers friction for a more realistic perspective on grasper performance. Our analysis establishes the importance of considering dynamically variable geometry in grasper design, namely palm width, lin... |
A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator | https://ieeexplore.ieee.org/document/9981155/ | [
"Chandramouly Ulagaoozhian",
"Vincent Duchaine",
"Chandramouly Ulagaoozhian",
"Vincent Duchaine"
] | While collaborative robotic arms offer significant safety benefits, safety of the overall manipulator system cannot be guaranteed unless equally strict safety requirements are satisfied by the accompanying end-effector. Current robot grippers are not made in a way that fulfills such a requirement, resulting in collaborative robots needing to operate in a protected environment. This paper presents ... |
The Good Grasp, the Bad Grasp, and the Plateau in Tactile-Based Grasp Stability Prediction | https://ieeexplore.ieee.org/document/9981360/ | [
"Jennifer Kwiatkowski",
"Mohammad Jolaei",
"Alexandre Bernier",
"Vincent Duchaine",
"Jennifer Kwiatkowski",
"Mohammad Jolaei",
"Alexandre Bernier",
"Vincent Duchaine"
] | Research around tactile sensing for grasp stability prediction in robotic manipulators continues to be popular, however few works are able to achieve a high classification accuracy. Due to simulation complexity, data-driven methods are often forced to rely on experimental data, yielding small, often unbalanced, data sets. In this work, the authors use a 3972 sample data set to explore the effects ... |
Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study | https://ieeexplore.ieee.org/document/9981569/ | [
"Arnav Gupta",
"Yuemin Mao",
"Ankit Bhatia",
"Xianyi Cheng",
"Jonathan King",
"Yifan Hou",
"Matthew T. Mason",
"Arnav Gupta",
"Yuemin Mao",
"Ankit Bhatia",
"Xianyi Cheng",
"Jonathan King",
"Yifan Hou",
"Matthew T. Mason"
] | This paper explores a novel approach to dexterous manipulation, aimed at levels of speed, precision, robustness, and simplicity suitable for practical deployment. The enabling technology is a Direct-drive Hand (DDHand) comprising two fingers, two DOFs each, that exhibit high speed and a light touch. The test application is the dexterous manipulation of three small and irregular parts, moving them ... |
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use | https://ieeexplore.ieee.org/document/9982092/ | [
"H.J. Terry Suh",
"Naveen Kuppuswamy",
"Tao Pang",
"Paul Mitiguy",
"Alex Alspach",
"Russ Tedrake",
"H.J. Terry Suh",
"Naveen Kuppuswamy",
"Tao Pang",
"Paul Mitiguy",
"Alex Alspach",
"Russ Tedrake"
] | We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sens... |
6D Robotic Assembly Based on RGB-only Object Pose Estimation | https://ieeexplore.ieee.org/document/9982262/ | [
"Bowen Fu",
"Sek Kun Leong",
"Xiaocong Lian",
"Xiangyang Ji",
"Bowen Fu",
"Sek Kun Leong",
"Xiaocong Lian",
"Xiangyang Ji"
] | Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and assemble blocks with tight tolerances. Aiming to provide an off-the-shelf RGB-only solution, our system is built upon a monocular 6D object pose estimation network tra... |
Context and Intention aware 3D Human Body Motion Prediction using an Attention Deep Learning model in Handover Tasks | https://ieeexplore.ieee.org/document/9981465/ | [
"Javier Laplaza",
"Francesc Moreno-Noguer",
"Alberto Sanfeliu",
"Javier Laplaza",
"Francesc Moreno-Noguer",
"Alberto Sanfeliu"
] | This work explores how contextual information and human intention affect the motion prediction of humans during a handover operation with a social robot. By classifying human intention in four different classes, we developed a model able to generate a different motion for each intention class. Furthermore, the model uses a multi-headed attention architecture to add contextual information to the pi... |
Learning a State Estimator for Tactile In-Hand Manipulation | https://ieeexplore.ieee.org/document/9981730/ | [
"Lennart Röstel",
"Leon Sievers",
"Johannes Pitz",
"Berthold Bäuml",
"Lennart Röstel",
"Leon Sievers",
"Johannes Pitz",
"Berthold Bäuml"
] | We study the problem of estimating the pose of an object which is being manipulated by a multi-fingered robotic hand by only using proprioceptive feedback. To address this challenging problem, we propose a novel variant of differentiable particle filters, which combines two key extensions. First, our learned proposal distribution incorporates recent measurements in a way that mitigates weight dege... |
A Two-stage Learning Architecture that Generates High-Quality Grasps for a Multi-Fingered Hand | https://ieeexplore.ieee.org/document/9981133/ | [
"Dominik Winkelbauer",
"Berthold Bäuml",
"Matthias Humt",
"Nils Thuerey",
"Rudolph Triebel",
"Dominik Winkelbauer",
"Berthold Bäuml",
"Matthias Humt",
"Nils Thuerey",
"Rudolph Triebel"
] | We investigate the problem of planning stable grasps for object manipulations using an 18-DOF robotic hand with four fingers. The main challenge here is the high-dimensional search space, and we address this problem using a novel two-stage learning process. In the first stage, we train an autoregressive network called the hand-pose-generator, which learns to generate a distribution of valid 6D pos... |
Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks | https://ieeexplore.ieee.org/document/9981295/ | [
"David Klee",
"Ondrej Biza",
"Robert Platt",
"David Klee",
"Ondrej Biza",
"Robert Platt"
] | Multi-goal policy learning for robotic manipu-lation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitate learning. In this paper, by hand-coding a high-level discrete representation of the domain, we show that policies to reach dozens of goals can be learned with a single network using Q-learning from pixels. The agent f... |
Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly | https://ieeexplore.ieee.org/document/9982158/ | [
"Yulong Li",
"Shubham Agrawal",
"Jen-Shuo Liu",
"Steven K. Feiner",
"Shuran Song",
"Yulong Li",
"Shubham Agrawal",
"Jen-Shuo Liu",
"Steven K. Feiner",
"Shuran Song"
] | Studies in robot teleoperation have been centered around action specifications-from continuous joint control to discrete end-effector pose control. However, these “robot-centric” interfaces often require skilled operators with extensive robotics expertise. To make teleoperation accessible to nonexpert users, we propose the framework “Scene Editing as Teleoperation” (SEaT), where the key idea is to... |
On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection | https://ieeexplore.ieee.org/document/9981866/ | [
"Benedict Stephan",
"Dustin Aganian",
"Lars Hinneburg",
"Markus Eisenbach",
"Steffen Müller",
"Horst-Michael Gross",
"Benedict Stephan",
"Dustin Aganian",
"Lars Hinneburg",
"Markus Eisenbach",
"Steffen Müller",
"Horst-Michael Gross"
] | Automated grasping of arbitrary objects is an essential skill for many applications such as smart manufacturing and human robot interaction. This makes grasp detection a vital skill for automated robotic systems. Recent work in model-free grasp detection uses point cloud data as input and typically outperforms the earlier work on RGB(D)-based methods. We show that RGB(D)-based methods are being un... |
A unified MPC design approach for AGV path following | https://ieeexplore.ieee.org/document/9981575/ | [
"Mirko Kokot",
"Damjan Miklić",
"Tamara Petrović",
"Mirko Kokot",
"Damjan Miklić",
"Tamara Petrović"
] | This paper presents a unified approach to the design of Model Predictive Controllers (MPC), custom-tailored for path following by Automated Guided Vehicles (AGVs). The approach can be applied in a unified manner to several relevant AGV kinematic configurations, including tricycle, differential, and double steer-drive. By leveraging Linear Parameter Varying (LPV) MPC, it provides maximum maneuverab... |
GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles | https://ieeexplore.ieee.org/document/9982026/ | [
"Yeongseok Lee",
"Minsu Cho",
"Kyung-Soo Kim",
"Yeongseok Lee",
"Minsu Cho",
"Kyung-Soo Kim"
] | Collision avoidance in emergency situations is a crucial and challenging task in motion planning for autonomous vehicles. Especially in the field of optimization-based planning using nonlinear model predictive control, many efforts to achieve real-time performance are still ongoing. Among various approaches, the iterative linear quadratic regulator (iLQR) is known as an efficient means of nonlinea... |
RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving | https://ieeexplore.ieee.org/document/9982184/ | [
"Timothy Ha",
"Jeongwoo Oh",
"Hojun Chung",
"Gunmin Lee",
"Songhwai Oh",
"Timothy Ha",
"Jeongwoo Oh",
"Hojun Chung",
"Gunmin Lee",
"Songhwai Oh"
] | In this paper, we present a novel autonomous driving framework, called a road graph and image attention network (RIANet), which computes the attention scores of objects in the image using the road graph feature. The process of the proposed method is as follows: First, the feature encoder module encodes the road graph, image, and additional features of the scene. The attention network module then i... |
P2EG: Prediction and Planning Integrated Robust Decision-Making for Automated Vehicle Negotiating in Narrow Lane with Explorative Game | https://ieeexplore.ieee.org/document/9981332/ | [
"Qianyi Zhang",
"Xiao Li",
"Ethan He",
"Shuguang Ding",
"Naizheng Wang",
"Jingtai Liu",
"Qianyi Zhang",
"Xiao Li",
"Ethan He",
"Shuguang Ding",
"Naizheng Wang",
"Jingtai Liu"
] | In the narrow lane scene of autonomous driving, it is critical for the ego car to recognize the intentions of social vehicles and cooperate with them. However, cooperating with social vehicles is challenging due to insufficient information. This paper proposes an Explorative Game that adopts Participant Game and Perfect Bayesian Equilibrium to exploratively perform some aggressive actions to obtai... |
Motion Planning for HyTAQs: A Topology-guided Unified NMPC Approach | https://ieeexplore.ieee.org/document/9981106/ | [
"Tong Wu",
"Yimin Zhu",
"Lixian Zhang",
"Jianan Yang",
"Yihang Ding",
"Tong Wu",
"Yimin Zhu",
"Lixian Zhang",
"Jianan Yang",
"Yihang Ding"
] | In this study, a topology-guided unified nonlinear model predictive control (NMPC) approach is proposed for autonomous navigation of a class of Hybrid Terrestrial and Aerial Quadrotors (HyTAQs) in unknown environments. The approach can fully exploit the hybrid terrestrial-aerial locomotion of the vehicle and as such ensure a high navigation efficiency. A unified terrestrial-aerial NMPC is first fo... |
Group-$k$ Consistent Measurement Set Maximization for Robust Outlier Detection | https://ieeexplore.ieee.org/document/9982057/ | [
"Brendon Forsgren",
"Ram Vasudevan",
"Michael Kaess",
"Timothy W. McLain",
"Joshua G. Mangelson",
"Brendon Forsgren",
"Ram Vasudevan",
"Michael Kaess",
"Timothy W. McLain",
"Joshua G. Mangelson"
] | This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibility on a pairwise basis, however many measurement types are not sufficiently constrained in a pairwise scenario to determine if either measurement is inconsistent with the other. This paper presents group-$k$ consistency ... |
Floorplan-Aware Camera Poses Refinement | https://ieeexplore.ieee.org/document/9981148/ | [
"Anna Sokolova",
"Filipp Nikitin",
"Anna Vorontsova",
"Anton Konushin",
"Anna Sokolova",
"Filipp Nikitin",
"Anna Vorontsova",
"Anton Konushin"
] | Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such as visual-based localization and navigation, where the correct position of walls is crucial. For many indoor scenes, there exists an image of a technical ftoorpl... |
MOTSLAM: MOT-assisted monocular dynamic SLAM using single-view depth estimation | https://ieeexplore.ieee.org/document/9982280/ | [
"Hanwei Zhang",
"Hideaki Uchiyama",
"Shintaro Ono",
"Hiroshi Kawasaki",
"Hanwei Zhang",
"Hideaki Uchiyama",
"Shintaro Ono",
"Hiroshi Kawasaki"
] | Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of under-standing dynamic surroundings in various scenarios including autonomous driving, augmented and virtual reality. However, performing dynamic SLAM solely with monocular images remain... |
Gravity-constrained point cloud registration | https://ieeexplore.ieee.org/document/9981916/ | [
"Vladimír Kubelka",
"Maxime Vaidis",
"François Pomerleau",
"Vladimír Kubelka",
"Maxime Vaidis",
"François Pomerleau"
] | Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant acceleration, the gravity vector makes two attitude angles out of three observable in the global coordinate frame. In visual odometry, this is already being us... |
When Geometry is not Enough: Using Reflector Markers in Lidar SLAM | https://ieeexplore.ieee.org/document/9981522/ | [
"Gerhard Kurz",
"Sebastian A. Scherer",
"Peter Biber",
"David Fleer",
"Gerhard Kurz",
"Sebastian A. Scherer",
"Peter Biber",
"David Fleer"
] | Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the environment contains structureless areas such as long hallways. To allow the use of lidar-based SLAM in such environments, we propose to add reflector markers in specific locations that would otherwise be difficult. We ... |
Photometric single-view dense 3D reconstruction in endoscopy | https://ieeexplore.ieee.org/document/9981742/ | [
"Víctor M. Batlle",
"J.M.M. Montiel",
"Juan D. Tardós",
"Víctor M. Batlle",
"J.M.M. Montiel",
"Juan D. Tardós"
] | Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular images, leading to systems lacking true scale. In this paper, we exploit the controlled lighting in colonoscopy to achieve the first in-vivo 3D reconstruction of the human colon using photometric stereo on a calibrated monocu... |
Immersive View and Interface Design for Teleoperated Aerial Manipulation | https://ieeexplore.ieee.org/document/9981656/ | [
"Basaran Bahadir Kocer",
"Harvey Stedman",
"Patryk Kulik",
"Izaak Caves",
"Nejra Van Zalk",
"Vijay M. Pawar",
"Mirko Kovac",
"Basaran Bahadir Kocer",
"Harvey Stedman",
"Patryk Kulik",
"Izaak Caves",
"Nejra Van Zalk",
"Vijay M. Pawar",
"Mirko Kovac"
] | The recent momentum in aerial manipulation has led to an interest in developing virtual reality interfaces for aerial physical interaction tasks with simple, intuitive, and reliable control and perception. However, this requires the use of expensive subsystems and there is still a research gap between interface design, user evaluations and the effect on aerial manipulation tasks. Here, we present ... |
WFH-VR: Teleoperating a Robot Arm to set a Dining Table across the Globe via Virtual Reality | https://ieeexplore.ieee.org/document/9981729/ | [
"Lai Sum Yim",
"Quang TN Vo",
"Ching-I Huang",
"Chi-Ruei Wang",
"Wren McQueary",
"Hsueh-Cheng Wang",
"Haikun Huang",
"Lap-Fai Yu",
"Lai Sum Yim",
"Quang TN Vo",
"Ching-I Huang",
"Chi-Ruei Wang",
"Wren McQueary",
"Hsueh-Cheng Wang",
"Haikun Huang",
"Lap-Fai Yu"
] | This paper presents an easy-to-deploy, virtual reality-based teleoperation system for controlling a robot arm. The proposed system is based on a consumer-grade virtual reality device (Oculus Quest 2) with a low-cost robot arm (a LoCoBot) to allow easy replication and set up. The proposed Work-from-Home Virtual Reality (WFH-VR) system allows the user to feel an intimate connection with the real rem... |
A Deep Learning Technique as a Sensor Fusion for Enhancing the Position in a Virtual Reality Micro-Environment | https://ieeexplore.ieee.org/document/9981239/ | [
"John David Prieto Prada",
"Miguel Luna",
"Sang Hyun Park",
"Cheol Song",
"John David Prieto Prada",
"Miguel Luna",
"Sang Hyun Park",
"Cheol Song"
] | Most virtual reality (VR) applications use a commercial controller for interaction. However, a typical virtual reality controller (VRC) lacks positional precision and accu-racy in millimeter-scale scenarios. This lack of precision and accuracy is caused by built-in sensors drift. Therefore, the tracking performance of a VRC needs to be enhanced for millimeter-scale scenarios. Herein, we introduce ... |
A Torque Controlled Approach for Virtual Remote Centre of Motion Implementation | https://ieeexplore.ieee.org/document/9981619/ | [
"Marco Minelli",
"Cristian Secchi",
"Marco Minelli",
"Cristian Secchi"
] | In this paper, we propose a novel torque controller for the implementation virtual remote center of motion. The controller allows the system to implement the required behavior and guarantees the satisfaction of the remote center of motion constraint. Exploiting the Udwadia-Kalaba equation for constrained dynamic systems, the controller is synthesized considering the dynamic effect the constraint p... |
Semi-Automatic Infrared Calibration for Augmented Reality Systems in Surgery | https://ieeexplore.ieee.org/document/9982215/ | [
"Hisham Iqbal",
"Ferdinando Rodriguez y Baena",
"Hisham Iqbal",
"Ferdinando Rodriguez y Baena"
] | Augmented reality (AR) has the potential to improve the immersion and efficiency of computer-assisted orthopaedic surgery (CAOS) by allowing surgeons to maintain focus on the operating site rather than external displays in the operating theatre. Successful deployment of AR to CAOS requires a calibration that can accurately calculate the spatial relationship between real and holographic objects. Se... |
Towards Reproducible Evaluations for Flying Drone Controllers in Virtual Environments | https://ieeexplore.ieee.org/document/9981123/ | [
"Zheng Li",
"Yiming Huang",
"Yui-Pan Yau",
"Pan Hui",
"Lik-Hang Lee",
"Zheng Li",
"Yiming Huang",
"Yui-Pan Yau",
"Pan Hui",
"Lik-Hang Lee"
] | Research attention on natural user interfaces (NUIs) for drone flights are rising. Nevertheless, NUIs are highly diversified, and primarily evaluated by different physical environments leading to hard-to-compare performance between such solutions. We propose a virtual environment, namely VRFlightSim, enabling comparative evaluations with enriched drone flight details to address this issue. We firs... |
Learning with Yourself: a Tangible Twin Robot System to Promote STEM Education | https://ieeexplore.ieee.org/document/9981423/ | [
"Jiasi Gao",
"Jiangtao Gong",
"Guyue Zhou",
"Haole Guo",
"Tong Qi",
"Jiasi Gao",
"Jiangtao Gong",
"Guyue Zhou",
"Haole Guo",
"Tong Qi"
] | This paper presents a customized programmable robotic system, TanTwin (Tangible Twin), designed to promote STEM education for K-12 children. Firstly, TanTwin is implemented based on a wheel-robot with standard LEGO bricks. With several deep neural networks, a child can convert a captured portrait of himself/herself into standard LEGO bricks, therefore he/she can build a tangible twin robot of him-... |
Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag | https://ieeexplore.ieee.org/document/9981168/ | [
"Eren Allak",
"Rooholla Khorrambakht",
"Christian Brommer",
"Stephan Weiss",
"Eren Allak",
"Rooholla Khorrambakht",
"Christian Brommer",
"Stephan Weiss"
] | Suspended Cable-Driven Parallel Robots (SCDPR) have intriguing capabilities on large scales but still have open challenges in precisely estimating the end-effector pose. The cables exhibit a downward curved shape, also known as cable sag which needs to be accounted for in the pose estimation. The catenary equations can accurately describe this phenomenon but are only accurate in equilibrium condit... |
End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy | https://ieeexplore.ieee.org/document/9981712/ | [
"Shoki Tsuboi",
"Hitoshi Kino",
"Kenji Tahara",
"Shoki Tsuboi",
"Hitoshi Kino",
"Kenji Tahara"
] | This study focuses on replicating the muscu-loskeletal system of human arms for mimicking its movement. Muscle redundancy is critical for regulating the mechanical impedance of arms and legs. However, when implementing muscle redundancy on robots, making an ill-posed problem that cannot determine the muscle forces uniquely. In this paper, first, a method for controlling end-point stiffness in the ... |
Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions | https://ieeexplore.ieee.org/document/9981997/ | [
"Yongwei Zou",
"Yusheng Hu",
"Huanhui Cao",
"Yuchen Xu",
"Yuanjie Yu",
"Wenjie Lu",
"Hao Xiong",
"Yongwei Zou",
"Yusheng Hu",
"Huanhui Cao",
"Yuchen Xu",
"Yuanjie Yu",
"Wenjie Lu",
"Hao Xiong"
] | Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling, rehabilitation, and instrumentation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the feasible position of anchor points. To address the collision-free constraint of CDPRs, a data-driven kinematic control scheme is developed for CDPRs, enabling a CDP... |
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping | https://ieeexplore.ieee.org/document/9981963/ | [
"Temma Suzuki",
"Yasunori Toshimitsu",
"Yuya Nagamatsu",
"Kento Kawaharazuka",
"Akihiro Miki",
"Yoshimoto Ribayashi",
"Masahiro Bando",
"Kunio Kojima",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba",
"Temma Suzuki",
"Yasunori Toshimitsu",
"Yuya Nagamatsu",
"Kento Kawaharazuka",
"Akihiro Miki",
"Yoshimoto Ribayashi",
"Masahiro Bando",
"Kunio Kojima",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba"
] | Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a three-dimensional environment. In this study, we propose a parallel wire-driven leg structure, which has one DoF of linear motion and two DoFs of rotation and i... |
Accelerated Reinforcement Learning for Temporal Logic Control Objectives | https://ieeexplore.ieee.org/document/9981759/ | [
"Yiannis Kantaros",
"Yiannis Kantaros"
] | This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP captures uncertainty in the workspace structure and the outcomes of control decisions. The control objective is to synthesize a control policy that maximizes the pro... |
Qualitative Belief Space Planning via Compositions | https://ieeexplore.ieee.org/document/9981502/ | [
"Itai Zilberman",
"Vadim Indelman",
"Itai Zilberman",
"Vadim Indelman"
] | Planning under uncertainty is a fundamental problem in robotics. Classical approaches rely on a metrical representation of the world and robot's states to infer the next course of action. While these approaches are considered accurate, they are often susceptible to metric errors and tend to be costly regarding memory and time consumption. However, in some cases, relying on qualitative geometric in... |
An Analytical Study of Motion of Autonomous Vehicles under Imperfect Sensing | https://ieeexplore.ieee.org/document/9981329/ | [
"Swagata Biswas",
"Himadri Sekhar Paul",
"Saurabh Bagchi",
"Swagata Biswas",
"Himadri Sekhar Paul",
"Saurabh Bagchi"
] | A fully tested autonomous system works predictably under ideal or assumed environment. However, its behavior is not fully defined when some components malfunction or fail. In this paper, we consider automated guided vehicle (AGV), equipped with multiple sensors, executing a traversal task in a static unknown environment. We have analytically studied the system, computed a set of performance and sa... |
Adhesion Risk Assessment of An Aircraft Inspection Robot for Improving Operator Awareness | https://ieeexplore.ieee.org/document/9982230/ | [
"M. A. Viraj",
"J. Muthugala",
"Manuel Vega-Heredia",
"Nay Htet Lin",
"S. M. Bhagya",
"P. Samarakoon",
"Mohan Rajesh Elara",
"M. A. Viraj",
"J. Muthugala",
"Manuel Vega-Heredia",
"Nay Htet Lin",
"S. M. Bhagya",
"P. Samarakoon",
"Mohan Rajesh Elara"
] | Vacuum-adhesion-based climbing robots have been developed to cater to the demands in the cleaning and inspection work of airplanes. A robot intended to clean and inspect an airplane faces a Risk of Adhesion (RoA) based on the robot and the surface conditions, such as worn-out suction cups. These sorts of underlying conditions are not easily noticeable for an operator of a robot and might lead to c... |
How Do We Fail? Stress Testing Perception in Autonomous Vehicles | https://ieeexplore.ieee.org/document/9981724/ | [
"Harrison Delecki",
"Masha Itkina",
"Bernard Lange",
"Ransalu Senanayake",
"Mykel J. Kochenderfer",
"Harrison Delecki",
"Masha Itkina",
"Bernard Lange",
"Ransalu Senanayake",
"Mykel J. Kochenderfer"
] | Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of these systems is challenging due to their complexity and dependence on observation histories. This paper presents a method for characterizing failures of LiDAR-ba... |
HiddenGems: Efficient safety boundary detection with active learning | https://ieeexplore.ieee.org/document/9982243/ | [
"Aleksandar Petrov",
"Carter Fang",
"Khang Minh Pham",
"You Hong Eng",
"James Guo Ming Fu",
"Scott Drew Pendleton",
"Aleksandar Petrov",
"Carter Fang",
"Khang Minh Pham",
"You Hong Eng",
"James Guo Ming Fu",
"Scott Drew Pendleton"
] | Evaluating safety performance in a resource-efficient way is crucial for the development of autonomous systems. Simulation of parameterized scenarios is a popular testing strategy but parameter sweeps can be prohibitively expensive. To address this, we propose HiddenGems: a sample-efficient method for discovering the boundary between compliant and non-compliant behavior via active learning. Given ... |
enpheeph: A Fault Injection Framework for Spiking and Compressed Deep Neural Networks | https://ieeexplore.ieee.org/document/9982181/ | [
"Alessio Colucci",
"Andreas Steininger",
"Muhammad Shafique",
"Alessio Colucci",
"Andreas Steininger",
"Muhammad Shafique"
] | Research on Deep Neural Networks (DNNs) has focused on improving performance and accuracy for real-world deployments, leading to new models, such as Spiking Neural Networks (SNNs), and optimization techniques, e.g., quantization and pruning for compressed networks. However, the deployment of these innovative models and optimization techniques introduces possible reliability issues, which is a pill... |
Dependability Analysis of Deep Reinforcement Learning based Robotics and Autonomous Systems through Probabilistic Model Checking | https://ieeexplore.ieee.org/document/9981794/ | [
"Yi Dong",
"Xingyu Zhao",
"Xiaowei Huang",
"Yi Dong",
"Xingyu Zhao",
"Xiaowei Huang"
] | While Deep Reinforcement Learning (DRL) provides transformational capabilities to the control of Robotics and Autonomous Systems (RAS), the black-box nature of DRL and uncertain deployment environments of RAS pose new challenges on its dependability. Although existing works impose constraints on the DRL policy to ensure successful completion of the mission, it is far from adequate to assess the DR... |
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots | https://ieeexplore.ieee.org/document/9981359/ | [
"Bowen Weng",
"Guillermo A. Castillo",
"Wei Zhang",
"Ayonga Hereid",
"Bowen Weng",
"Guillermo A. Castillo",
"Wei Zhang",
"Ayonga Hereid"
] | The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and inferred risk can be incomplete and sampling inefficient. Some formal verification methods suffer from the model precision and other surrogate assumptions. In th... |
Understanding Spatio-Temporal Relations in Human-Object Interaction using Pyramid Graph Convolutional Network | https://ieeexplore.ieee.org/document/9981771/ | [
"Hao Xing",
"Darius Burschka",
"Hao Xing",
"Darius Burschka"
] | Human activities recognition is an important task for an intelligent robot, especially in the field of human-robot collaboration, it requires not only the label of sub-activities but also the temporal structure of the activity. In order to automatically recognize both the label and the temporal structure in sequence of human-object interaction, we propose a novel Pyramid Graph Convolutional Networ... |
Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot | https://ieeexplore.ieee.org/document/9981725/ | [
"Bernadett Kiss",
"Emre Cemal Gonen",
"An Mo",
"Alexander Badri–Spröwitz",
"Alexandra Buchmann",
"Daniel Renjewski",
"Bernadett Kiss",
"Emre Cemal Gonen",
"An Mo",
"Alexander Badri–Spröwitz",
"Alexandra Buchmann",
"Daniel Renjewski"
] | Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers the swing leg catapult. However, the mechanics of the human lower leg with its complex muscle-tendon units spanning over single and multiple joints is not yet u... |
A Riemannian Take on Human Motion Analysis and Retargeting | https://ieeexplore.ieee.org/document/9982127/ | [
"Holger Klein",
"Noémie Jaquier",
"Andre Meixner",
"Tamim Asfour",
"Holger Klein",
"Noémie Jaquier",
"Andre Meixner",
"Tamim Asfour"
] | Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement generation. Inspired by recent works, we hypothesize that human motions are planned as sequences of geodesic synergies, and thus correspond to coordinated joint m... |
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP | https://ieeexplore.ieee.org/document/9981796/ | [
"Anna Reithmeir",
"Luis Figueredo",
"Sami Haddadin",
"Anna Reithmeir",
"Luis Figueredo",
"Sami Haddadin"
] | Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of human-like motion. Although in recent literature focus is shifted towards manipulability transfer between two robots, the adaptation to the capabilities of the othe... |
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps | https://ieeexplore.ieee.org/document/9981593/ | [
"Joris Verhagen",
"Xiaobin Xiong",
"Aaron D. Ames",
"Ajay Seth",
"Joris Verhagen",
"Xiaobin Xiong",
"Aaron D. Ames",
"Ajay Seth"
] | Humans are able to negotiate downstep behaviors-both planned and unplanned-with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if the morphology is inherently different. Concretely, we begin with human data wherein planned and unplanned downsteps are taken. We analyze this data from the perspecti... |
A Centaur System for Assisting Human Walking with Load Carriage | https://ieeexplore.ieee.org/document/9981394/ | [
"Ping Yang",
"Haoyun Yan",
"Bowen Yang",
"Jianquan Li",
"Kailin Li",
"Yuquan Leng",
"Chenglong Fu",
"Ping Yang",
"Haoyun Yan",
"Bowen Yang",
"Jianquan Li",
"Kailin Li",
"Yuquan Leng",
"Chenglong Fu"
] | Walking with load is a common task in daily life and disaster rescue. Long-term load carriage may cause irreversible damage to the human body. Although remarkable progress has been made in the field of wearable robots, it is still far from avoiding interference to human legs, which will lead to energy consumption. In this paper, a novel wearable robot, Centaur, for assisting load carriage has been... |
Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model | https://ieeexplore.ieee.org/document/9981926/ | [
"Masaki Kitagawa",
"Takayuki Tanaka",
"Akihiko Murai",
"Masaki Kitagawa",
"Takayuki Tanaka",
"Akihiko Murai"
] | This study aims to construct a running simulator based on a motion generation and control system that enables the description of motion strategies using the spring-loaded inverted pendulum (SLIP) model. The problems of stability and robustness encountered in the running simulation with the SLIP model are elucidated, and stable running is achieved by controlling the stiffness and the attitude angle... |
Koopman pose predictions for temporally consistent human walking estimations | https://ieeexplore.ieee.org/document/9981204/ | [
"Marc Mitjans",
"David M. Levine",
"Louis N. Awad",
"Roberto Tron",
"Marc Mitjans",
"David M. Levine",
"Louis N. Awad",
"Roberto Tron"
] | We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB images, and point cloud depth measurements. This system applies the factor graph representation to an optimization problem that provides 3-D skeleton joint estimatio... |
LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes | https://ieeexplore.ieee.org/document/9981178/ | [
"Benjamin Alt",
"Christian Kunz",
"Darko Katic",
"Rayan Younis",
"Rainer Jäkel",
"Beat Peter Müller-Stich",
"Martin Wagner",
"Franziska Mathis-Ullrich",
"Benjamin Alt",
"Christian Kunz",
"Darko Katic",
"Rayan Younis",
"Rainer Jäkel",
"Beat Peter Müller-Stich",
"Martin Wagner",
"Franziska Mathis-Ullrich"
] | The semantic segmentation of surgical scenes is a prerequisite for task automation in robot assisted interventions. We propose LapSeg3D, a novel DNN-based approach for the voxel-wise annotation of point clouds representing surgical scenes. As the manual annotation of training data is highly time consuming, we introduce a semi-autonomous clustering-based pipeline for the annotation of the gallbladd... |
Ego+X: An Egocentric Vision System for Global 3D Human Pose Estimation and Social Interaction Characterization | https://ieeexplore.ieee.org/document/9981710/ | [
"Yuxuan Liu",
"Jianxin Yang",
"Xiao Gu",
"Yao Guo",
"Guang-Zhong Yang",
"Yuxuan Liu",
"Jianxin Yang",
"Xiao Gu",
"Yao Guo",
"Guang-Zhong Yang"
] | Egocentric vision is an emerging topic, which has demonstrated great potential in assistive healthcare scenarios, ranging from human-centric behavior analysis to personal social assistance. Within this field, due to the heterogeneity of visual perception from first-person views, egocentric pose estimation is one of the most significant prerequisites for enabling various downstream applications. Ho... |
Tracking monocular camera pose and deformation for SLAM inside the human body | https://ieeexplore.ieee.org/document/9981203/ | [
"Juan J. Gómez Rodríguez",
"J.M.M. Montiel",
"Juan D. Tardós",
"Juan J. Gómez Rodríguez",
"J.M.M. Montiel",
"Juan D. Tardós"
] | Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to simultaneously track the camera pose and the 3D scene deformation, without any assumption about environment topology or shape. The method uses an illumination-invarian... |
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery | https://ieeexplore.ieee.org/document/9981966/ | [
"Zih-Yun Chiu",
"Albert Z Liao",
"Florian Richter",
"Bjorn Johnson",
"Michael C. Yip",
"Zih-Yun Chiu",
"Albert Z Liao",
"Florian Richter",
"Bjorn Johnson",
"Michael C. Yip"
] | Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the in-consistency of markerless detections. However, fiducial markers are not practical for real-world applications and can often be occluded from environmental factors in surgery... |
Monocular Depth Estimation for Equirectangular Videos | https://ieeexplore.ieee.org/document/9982157/ | [
"Helmi Fraser",
"Sen Wang",
"Helmi Fraser",
"Sen Wang"
] | Depth estimation from panoramic imagery has received minimal attention in contrast to standard perspective imagery, which constitutes the majority of the literature on the key research topic. The vast - and frequently complete - field of view provided by such panoramic photographs makes them appealing for a variety of applications, including robots, autonomous vehicles, and virtual reality. Consum... |
Visual Servoing with Geometrically Interpretable Neural Perception | https://ieeexplore.ieee.org/document/9982163/ | [
"Antonio Paolillo",
"Mirko Nava",
"Dario Piga",
"Alessandro Giusti",
"Antonio Paolillo",
"Mirko Nava",
"Dario Piga",
"Alessandro Giusti"
] | An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, allowing an easy application of this technique. This work presents a deep learning approach for solving the perception problem within the visual servoing scheme. An artificial neural network is trained using the supervisio... |
Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction | https://ieeexplore.ieee.org/document/9981318/ | [
"Yue Pan",
"Yves Kompis",
"Luca Bartolomei",
"Ruben Mascaro",
"Cyrill Stachniss",
"Margarita Chli",
"Yue Pan",
"Yves Kompis",
"Luca Bartolomei",
"Ruben Mascaro",
"Cyrill Stachniss",
"Margarita Chli"
] | Creating accurate maps of complex, unknown environments is of utmost importance for truly autonomous navigation robot. However, building these maps online is far from trivial, especially when dealing with large amounts of raw sensor readings on a computation and energy constrained mobile system, such as a small drone. While numerous approaches tackling this problem have emerged in recent years, th... |
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation | https://ieeexplore.ieee.org/document/9981531/ | [
"Yifu Tao",
"Marija Popović",
"Yiduo Wang",
"Sundara Tejaswi Digumarti",
"Nived Chebrolu",
"Maurice Fallon",
"Yifu Tao",
"Marija Popović",
"Yiduo Wang",
"Sundara Tejaswi Digumarti",
"Nived Chebrolu",
"Maurice Fallon"
] | Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth measurements. We present a learning-aided 3D lidar reconstruction framework that upsamples sparse lidar depth measurements with the aid of overlapping camera images so ... |
Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration | https://ieeexplore.ieee.org/document/9981079/ | [
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno",
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno"
] | This paper presents an accurate and scalable method for fiducial tag localization on a 3D prior environmental map. The proposed method comprises three steps: 1) visual odometry-based landmark SLAM for estimating the relative poses between fiducial tags, 2) geometrical matching-based global tag-map registration via maximum clique finding, and 3) tag pose refinement based on direct camera-map alignm... |
Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity | https://ieeexplore.ieee.org/document/9982050/ | [
"Petri Manninen",
"Heikki Hyyti",
"Ville Kyrki",
"Jyri Maanpää",
"Josef Taher",
"Juha Hyyppä",
"Petri Manninen",
"Heikki Hyyti",
"Ville Kyrki",
"Jyri Maanpää",
"Josef Taher",
"Juha Hyyppä"
] | High-Definition (HD) maps are needed for robust navigation of autonomous vehicles, limited by the on-board storage capacity. To solve this, we propose a novel framework, Environment-Aware Normal Distributions Transform (EA-NDT), that significantly improves compression of standard NDT map representation. The compressed representation of EA-NDT is based on semantic-aided clustering of point clouds r... |
Rigid Skeleton Enhanced Dexterous Soft Finger Possessing Proprioception | https://ieeexplore.ieee.org/document/9981292/ | [
"Ruichen Zhen",
"Li Jiang",
"Ruichen Zhen",
"Li Jiang"
] | This work presents a humanoid soft robotics finger design with rigid skeletons and proprioceptive sensors. This 4-DOFs dexterous finger has soft joints and rigid phalanxes, which is about the size of human hand. To enhance the overall stiffness and for human-like behavior and configuration, rigid-soft actuators which we called quasi-joints are introduced. Although their lengths are shortened in th... |
Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces | https://ieeexplore.ieee.org/document/9981175/ | [
"Nelson G. Badillo Perez",
"Margaret M. Coad",
"Nelson G. Badillo Perez",
"Margaret M. Coad"
] | There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting toroidal robots, which move via simultaneous eversion and inversion of their body material, are promising for navigation in these types of spaces. We present a no... |
A Geometric Design Approach for Continuum Robots by Piecewise Approximation of Freeform Shapes | https://ieeexplore.ieee.org/document/9981430/ | [
"Sicheng Wang",
"Laura H. Blumenschein",
"Sicheng Wang",
"Laura H. Blumenschein"
] | As soft, continuum robots see increasing areas of application, many scenarios have arisen where it is necessary to consider the geometric shape of the robot. The current approaches to robot kinematics, such as the piecewise constant-curvature (PCC) model, are effective in representing simple overall robot geometry and estimating the end-effector state, but they are less intuitive for planning robo... |
Soft, Multi-Layer, Disposable, Kirigami Based Robotic Grippers: On Handling of Delicate, Contaminated, and Everyday Objects | https://ieeexplore.ieee.org/document/9981625/ | [
"Joao Buzzatto",
"Mojtaba Shahmohammadi",
"Junbang Liang",
"Felipe Sanches",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis",
"Joao Buzzatto",
"Mojtaba Shahmohammadi",
"Junbang Liang",
"Felipe Sanches",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis"
] | Grasping and manipulation are complex and demanding tasks, especially when executed in dynamic and unstructured environments. Typically, such tasks are executed by rigid articulated end-effectors, with a plethora of actuators that need sophisticated sensing and complex control laws to execute them efficiently. Soft robotics offers an alternative that allows for simplified execution of these demand... |
Topology optimized multi-material self-healing actuator with reduced out of plane deformation | https://ieeexplore.ieee.org/document/9981297/ | [
"Zhanwei Wang",
"Seppe Terryn",
"Julie Legrand",
"Pasquale Ferrentino",
"Seyedreza Kashef Tabrizian",
"Joost Brancart",
"Ellen Roels",
"Guy Van Assche",
"Bram Vanderborght",
"Zhanwei Wang",
"Seppe Terryn",
"Julie Legrand",
"Pasquale Ferrentino",
"Seyedreza Kashef Tabrizian",
"Joost Brancart",
"Ellen Roels",
"Guy Van Assche",
"Bram Vanderborght"
] | Recent advances in soft robotics in academia have led to the adoption of soft grippers in industrial settings. Due to their soft bending actuators, these grippers can handle delicate objects with great care. However, due to their flexibility, the actuators are prone to out-of-plane deformations upon asymmetric loading. These undesired deformations lead to reduced grasp performance and may cause in... |
Energy-efficient tunable-stiffness soft robots using second moment of area actuation | https://ieeexplore.ieee.org/document/9981704/ | [
"L. Micklem",
"G.D. Weymouth",
"B. Thornton",
"L. Micklem",
"G.D. Weymouth",
"B. Thornton"
] | The optimal stiffness for soft swimming robots depends on swimming speed, which means no single stiffness can maximise efficiency in all swimming conditions. Tunable-stiffness would produce an increased range of high-efficiency swimming speeds for robots with flexible propulsors and enable soft control surfaces for steering underwater vehicles. We propose and demonstrate a method for tunable soft ... |
Acoustic Localization and Communication Using a MEMS Microphone for Low-cost and Low-power Bio-inspired Underwater Robots | https://ieeexplore.ieee.org/document/9981355/ | [
"Akshay Hinduja",
"Yunsik Ohm",
"Jiahe Liao",
"Carmel Majidi",
"Michael Kaess",
"Akshay Hinduja",
"Yunsik Ohm",
"Jiahe Liao",
"Carmel Majidi",
"Michael Kaess"
] | Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environ-mental visibility that makes camera-based methods ineffective. Popular inertial navigation methods for underwater localization using Doppler-velocity log sensors, so... |
Highly-Efficient Binary Neural Networks for Visual Place Recognition | https://ieeexplore.ieee.org/document/9981978/ | [
"Bruno Ferrarini",
"Michael Milford",
"Klaus D. McDonald-Maier",
"Shoaib Ehsan",
"Bruno Ferrarini",
"Michael Milford",
"Klaus D. McDonald-Maier",
"Shoaib Ehsan"
] | VPR is a fundamental task for autonomous navigation as it enables a robot to localize itself in the workspace when a known location is detected. Although accuracy is an essential requirement for a VPR technique, computational and energy efficiency are not less important for real-world applications. CNN-based techniques archive state-of-the-art VPR performance but are computationally intensive and ... |
Maintaining Robot Localizability with Bayesian Cramér-Rao Lower Bounds | https://ieeexplore.ieee.org/document/9981427/ | [
"Justin Cano",
"Corentin Chauffaut",
"Eric Chaumette",
"Gaël Pages",
"Jerome Le Ny",
"Justin Cano",
"Corentin Chauffaut",
"Eric Chaumette",
"Gaël Pages",
"Jerome Le Ny"
] | Accurate and real-time position estimates are cru-cial for mobile robots. This work focuses on ranging-based positioning systems, which rely on distance measurements between known points, called anchors, and a tag to localize. The topology of the network formed by the anchors strongly influences the tag's localizability, i.e., its ability to be accurately localized. Here, the tag and some anchors ... |
Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization | https://ieeexplore.ieee.org/document/9981072/ | [
"Chieko Sarah Imai",
"Minghao Zhang",
"Yuchen Zhang",
"Marcin Kierebiński",
"Ruihan Yang",
"Yuzhe Qin",
"Xiaolong Wang",
"Chieko Sarah Imai",
"Minghao Zhang",
"Yuchen Zhang",
"Marcin Kierebiński",
"Ruihan Yang",
"Yuzhe Qin",
"Xiaolong Wang"
] | Developing robust vision-guided controllers for quadrupedal robots in complex environments with various obstacles, dynamical surroundings and uneven terrains is very challenging. While Reinforcement Learning (RL) provides a promising paradigm for agile locomotion skills with vision inputs in simulation, it is still very challenging to deploy the vision-guided RL policy in the real world. Our key i... |
Model-free Neural Lyapunov Control for Safe Robot Navigation | https://ieeexplore.ieee.org/document/9981632/ | [
"Zikang Xiong",
"Joe Eappen",
"Ahmed H. Qureshi",
"Suresh Jagannathan",
"Zikang Xiong",
"Joe Eappen",
"Ahmed H. Qureshi",
"Suresh Jagannathan"
] | Model-free Deep Reinforcement Learning (DRL) controllers have demonstrated promising results on various challenging non-linear control tasks. While a model-free DRL algorithm can solve unknown dynamics and high-dimensional problems, it lacks safety assurance. Although safety constraints can be encoded as part of a reward function, there still exists a large gap between an RL controller trained wit... |
Magnetic Field Modeling of Linear Halbach Array for Wallclimbing Robot Based on Radial Basis Function Neural Network | https://ieeexplore.ieee.org/document/9981433/ | [
"Xiaofei Liu",
"Zhengkun Yi",
"Xinyu Wu",
"Wanfeng Shang",
"Xiaofei Liu",
"Zhengkun Yi",
"Xinyu Wu",
"Wanfeng Shang"
] | Aiming at the problem that it is difficult to calculate the force of permanent magnets in the magnetic field, this paper proposes a nonlinear mechanical model of linear array magnetic field based on radial basis function neural network (RBFNN). Combined with the linear Halbach array adsorption module of the wall-climbing robot, the three-dimensional geometric magnetic fields of four typical linear... |
OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot | https://ieeexplore.ieee.org/document/9982030/ | [
"Ruixiang Cao",
"Jun Gu",
"Chen Yu",
"Andre Rosendo",
"Ruixiang Cao",
"Jun Gu",
"Chen Yu",
"Andre Rosendo"
] | This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the robot to transform between omni-wheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative positio... |
SCALER: A Tough Versatile Quadruped Free-Climber Robot | https://ieeexplore.ieee.org/document/9981555/ | [
"Yusuke Tanaka",
"Yuki Shirai",
"Xuan Lin",
"Alexander Schperberg",
"Hayato Kato",
"Alexander Swerdlow",
"Naoya Kumagai",
"Dennis Hong",
"Yusuke Tanaka",
"Yuki Shirai",
"Xuan Lin",
"Alexander Schperberg",
"Hayato Kato",
"Alexander Swerdlow",
"Naoya Kumagai",
"Dennis Hong"
] | This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, over-hangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER... |
Microspine Design for Additive Manufacturing | https://ieeexplore.ieee.org/document/9981634/ | [
"Paul Nadan",
"Dinesh K. Patel",
"Catherine Pavlov",
"Spencer Backus",
"Aaron M. Johnson",
"Paul Nadan",
"Dinesh K. Patel",
"Catherine Pavlov",
"Spencer Backus",
"Aaron M. Johnson"
] | Microspine grippers allow robots to ascend steep rocky slopes and cliff faces, enabling scientific exploration of exposed strata on Earth and other solar system bodies. Historically, the Shape Deposition Manufacturing (SDM) process has been used to fabricate multi-material suspensions for load-sharing among multiple microspines. We instead apply the Hybrid Deposition Manufacturing (HDM) process to... |
The concept of rod-driven locomotion for spherical lunar exploration robots | https://ieeexplore.ieee.org/document/9981887/ | [
"Jasper Zevering",
"Dorit Borrmann",
"Anton Bredenbeck",
"Andreas Nüchter",
"Jasper Zevering",
"Dorit Borrmann",
"Anton Bredenbeck",
"Andreas Nüchter"
] | A spherical robotic probe has several advantages in rough environments and has therefore raised interest for application in planetary exploration. A sphere is well-suited to protect high-sensitive payloads, however, the locomotion system for planetary surfaces raises several challenges. This paper presents a novel locomotion system consisting of linear actuators which are usable in a multi-functio... |
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