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MDT3D: Multi-Dataset Training for LiDAR 3D Object Detection Generalization | https://ieeexplore.ieee.org/document/10341614/ | [
"Louis Soum-Fontez",
"Jean-Emmanuel Deschaud",
"François Goulette",
"Louis Soum-Fontez",
"Jean-Emmanuel Deschaud",
"François Goulette"
] | Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data from the target domain may not be available for finetuning or for domain adaptation methods. Indeed, 3D object detection models trained on a source dataset with... |
Addressing the Scale Shrinkage Problem in Learning-based Binocular Depth Estimation | https://ieeexplore.ieee.org/document/10341579/ | [
"Gang Guo",
"Yixu Song",
"Fuchun Sun",
"Gang Guo",
"Yixu Song",
"Fuchun Sun"
] | Binocular depth estimation is a fundamental problem in computer vision. Learning-based models have achieved significant performance improvements on public datasets in recent years. Our study finds that the performance of the current state-of-the-art deep learning-based models deteriorates significantly in distant areas. We point out that these deep learning-based models suffer from a scale shrinka... |
Holistic Parking Slot Detection with Polygon-Shaped Representations | https://ieeexplore.ieee.org/document/10342486/ | [
"Lihao Wang",
"Antonyo Musabini",
"Christel Leonet",
"Rachid Benmokhtar",
"Amaury Breheret",
"Chaima Yedes",
"Fabian Bürger",
"Thomas Boulay",
"Xavier Perrotton",
"Lihao Wang",
"Antonyo Musabini",
"Christel Leonet",
"Rachid Benmokhtar",
"Amaury Breheret",
"Chaima Yedes",
"Fabian Bürger",
"Thomas Boulay",
"Xavier Perrotton"
] | Current parking slot detection in advanced driver-assistance systems (ADAS) primarily relies on ultrasonic sen-sors. This method has several limitations such as the need to scan the entire parking slot before detecting it, the incapacity of detecting multiple slots in a row, and the difficulty of classifying them. Due to the complex visual environment, vehicles are equipped with surround view came... |
End-to-End Point Cloud Registration via Rotation Equivariant Descriptors | https://ieeexplore.ieee.org/document/10342154/ | [
"Yue Cao",
"Yujiao Shi",
"Ziang Cheng",
"Hongdong Li",
"Yue Cao",
"Yujiao Shi",
"Ziang Cheng",
"Hongdong Li"
] | Point cloud registration (PCR) aims to recover the rigid transformation between two noisy, unordered point sets. This task is typically tackled by establishing point-wise correspondences, and solving the rigid transformation between the two sets. Since descriptor-based methods find correspondences by matching the feature space distance, a powerful and rotation-robust point feature extractor is cri... |
The Audio-Visual BatVision Dataset for Research on Sight and Sound | https://ieeexplore.ieee.org/document/10341715/ | [
"Amandine Brunetto",
"Sascha Hornauer",
"Stella X. Yu",
"Fabien Moutarde",
"Amandine Brunetto",
"Sascha Hornauer",
"Stella X. Yu",
"Fabien Moutarde"
] | Vision research showed remarkable success in understanding our world, propelled by datasets of images and videos. Sensor data from radar, LiDAR and cameras supports research in robotics and autonomous driving for at least a decade. However, while visual sensors may fail in some conditions, sound has recently shown potential to complement sensor data. Simulated room impulse responses (RIR) in 3D ap... |
Long-Range UAV Thermal Geo-Localization with Satellite Imagery | https://ieeexplore.ieee.org/document/10342068/ | [
"Jiuhong Xiao",
"Daniel Tortei",
"Eloy Roura",
"Giuseppe Loianno",
"Jiuhong Xiao",
"Daniel Tortei",
"Eloy Roura",
"Giuseppe Loianno"
] | Onboard sensors, such as cameras and thermal sensors, have emerged as effective alternatives to Global Positioning System (GPS) for geo-Iocalization in Unmanned Aerial Vehicle (UAV) navigation. Since GPS can suffer from signal loss and spoofing problems, researchers have explored camera-based techniques such as Visual Geo-Iocalization (VG) using satellite RGB imagery. Additionally, thermal geo-Ioc... |
Sonar2Depth: Acoustic-Based 3D Reconstruction Using cGANs | https://ieeexplore.ieee.org/document/10342251/ | [
"Nael Jaber",
"Bilal Wehbe",
"Frank Kirchner",
"Nael Jaber",
"Bilal Wehbe",
"Frank Kirchner"
] | This work proposes the use of conditional Generative Adversarial Networks (cGANs) for acoustic-based 3D reconstruction. Acoustics being the most reliable sensor modality in underwater domains is accompanied with the loss of elevation angle in its images. The challenge of recovering the missing dimension in acoustic images have pushed researchers to try various methods and approaches over the past ... |
Depth Self-Supervision for Single Image Novel View Synthesis | https://ieeexplore.ieee.org/document/10342058/ | [
"Giovanni Minelli",
"Matteo Poggi",
"Samuele Salti",
"Giovanni Minelli",
"Matteo Poggi",
"Samuele Salti"
] | In this paper, we tackle the problem of generating a novel image from an arbitrary viewpoint given a single frame as input. While existing methods operating in this setup aim at predicting the target view depth map to guide the synthesis, without explicit supervision over such a task, we jointly optimize our framework for both novel view synthesis and depth estimation to unleash the synergy betwee... |
Skill Generalization with Verbs | https://ieeexplore.ieee.org/document/10341472/ | [
"Rachel Ma",
"Lyndon Lam",
"Benjamin A. Spiegel",
"Aditya Ganeshan",
"Roma Patel",
"Ben Abbatematteo",
"David Paulius",
"Stefanie Tellex",
"George Konidaris",
"Rachel Ma",
"Lyndon Lam",
"Benjamin A. Spiegel",
"Aditya Ganeshan",
"Roma Patel",
"Ben Abbatematteo",
"David Paulius",
"Stefanie Tellex",
"George Konidaris"
] | It is imperative that robots can understand natural language commands issued by humans. Such commands typically contain verbs that signify what action should be performed on a given object and that are applicable to many objects. We propose a method for generalizing manipulation skills to novel objects using verbs. Our method learns a probabilistic classifier that determines whether a given object... |
Multi-Source Soft Pseudo-Label Learning with Domain Similarity-based Weighting for Semantic Segmentation | https://ieeexplore.ieee.org/document/10342159/ | [
"Shigemichi Matsuzaki",
"Hiroaki Masuzawa",
"Jun Miura",
"Shigemichi Matsuzaki",
"Hiroaki Masuzawa",
"Jun Miura"
] | This paper describes a method of domain adap-tive training for semantic segmentation using multiple source datasets that are not necessarily relevant to the target dataset. We propose a soft pseudo-label generation method by integrating predicted object probabilities from multiple source models. The prediction of each source model is weighted based on the estimated domain similarity between the so... |
3D-Aware Object Localization using Gaussian Implicit Occupancy Function | https://ieeexplore.ieee.org/document/10342399/ | [
"Vincent Gaudillière",
"Leo Pauly",
"Arunkumar Rathinam",
"Albert Garcia Sanchez",
"Mohamed Adel Musallam",
"Djamila Aouada",
"Vincent Gaudillière",
"Leo Pauly",
"Arunkumar Rathinam",
"Albert Garcia Sanchez",
"Mohamed Adel Musallam",
"Djamila Aouada"
] | To automatically localize a target object in an image is crucial for many computer vision applications. To represent the 2D object, ellipse labels have recently been identified as a promising alternative to axis-aligned bounding boxes. This paper further considers 3D-aware ellipse labels, i.e., ellipses which are projections of a 3D ellipsoidal approximation of the object, for 2D target localizati... |
TransUPR: A Transformer-based Plug-and-Play Uncertain Point Refiner for LiDAR Point Cloud Semantic Segmentation | https://ieeexplore.ieee.org/document/10342116/ | [
"Zifan Yu",
"Meida Chen",
"Zhikang Zhang",
"Suya You",
"Raghuveer Rao",
"Sanjeev Agarwal",
"Fengbo Ren",
"Zifan Yu",
"Meida Chen",
"Zhikang Zhang",
"Suya You",
"Raghuveer Rao",
"Sanjeev Agarwal",
"Fengbo Ren"
] | Common image-based LiDAR point cloud semantic segmentation (LiDAR PCSS) approaches have bottlenecks resulting from the boundary-blurring problem of convolution neural networks (CNNs) and quantitation loss of spherical projection. In this work, we propose a transformer-based plug-and-play uncertain point refiner, i.e., TransUPR, to refine selected uncertain points in a learnable manner, which leads... |
Null-Space Compliance Variation for Safe Human-Robot Collaboration in Redundant Manipulators using Safety Control Barrier Functions | https://ieeexplore.ieee.org/document/10342181/ | [
"Julian M. Salt Ducaju",
"Björn Olofsson",
"Anders Robertsson",
"Rolf Johansson",
"Julian M. Salt Ducaju",
"Björn Olofsson",
"Anders Robertsson",
"Rolf Johansson"
] | In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human-Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an energy storage formulation compatible with strict passivity to provide global asymptotic stability ... |
Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration | https://ieeexplore.ieee.org/document/10342345/ | [
"Aran Mohammad",
"Moritz Schappler",
"Tobias Ortmaier",
"Aran Mohammad",
"Moritz Schappler",
"Tobias Ortmaier"
] | Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel algorithm for collision isolation and identification with proprioceptive information for a real PR is the scope of this work. To classify the collided body, th... |
Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility | https://ieeexplore.ieee.org/document/10341712/ | [
"Kai-Chieh Hsu",
"Karen Leung",
"Yuxiao Chen",
"Jaime F. Fisac",
"Marco Pavone",
"Kai-Chieh Hsu",
"Karen Leung",
"Yuxiao Chen",
"Jaime F. Fisac",
"Marco Pavone"
] | The ability to anticipate surrounding agents' behaviors is critical to enable safe and seamless autonomous vehicles (AVs). While phenomenological methods have successfully predicted future trajectories from scene context, these predictions lack interpretability. On the other hand, ontological approaches assume an underlying structure able to describe the interaction dynamics or agents' internal de... |
Time-Optimal Path Tracking with ISO Safety Guarantees | https://ieeexplore.ieee.org/document/10342287/ | [
"Shohei Fujii",
"Quang-Cuong Pham",
"Shohei Fujii",
"Quang-Cuong Pham"
] | One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for instance the case when the robot does not move at all, a human operator can still collide with it by hitting it of her own voluntary motion. In the SSM framewo... |
Upper Bounds for Localization Errors in 2D Human Pose Estimation | https://ieeexplore.ieee.org/document/10341572/ | [
"Patrick Schlosser",
"Christoph Ledermann",
"Tamim Asfour",
"Patrick Schlosser",
"Christoph Ledermann",
"Tamim Asfour"
] | Obtaining reliable detections of a human is crucial for many safety-related robotic tasks. This can be done by human pose estimation methods, which predict the position of several different keypoints of the human body. In most cases, recent approaches based on neural networks produce ‘good’ results, i.e. predictions with small localization errors, however, large errors do also occur. For an indivi... |
Enhanced Performance of Human-Robot Collaboration Using Braking Surfaces and Trajectory Scaling | https://ieeexplore.ieee.org/document/10341408/ | [
"Bakir Lacevic",
"Abdalla Reda Sobhy Ellithy Mahdy Newishy",
"Andrea Maria Zanchettin",
"Paolo Rocco",
"Bakir Lacevic",
"Abdalla Reda Sobhy Ellithy Mahdy Newishy",
"Andrea Maria Zanchettin",
"Paolo Rocco"
] | This paper presents an effective approach to enable performance improvement in human-robot collaboration scenarios. The problem is tackled from the perspective of speed and separation monitoring principle, which stems from the recently instituted safety standard. The proposed approach attempts to seek for performance gains, measured by the speed-up of the production cycle, without compromising the... |
Active Electric Perception-Based Haptic Modality with Applications to Robotics | https://ieeexplore.ieee.org/document/10341465/ | [
"Michael Zechmair",
"Yannick Morel",
"Michael Zechmair",
"Yannick Morel"
] | This paper describes the hardware implementation and characterization of a capacitive sensor designed to support detection and localization of nearby objects. The sensor can be mounted on the exterior of any given robotic system. The technology is particularly well-suited to detection of capacitive material, such as living tissue. As such, it offers perspectives of facilitating human-robot interac... |
Perirobot Space Representation for HRI: Measuring and Designing Collaborative Workspace Coverage by Diverse Sensors | https://ieeexplore.ieee.org/document/10341829/ | [
"Jakub Rozlivek",
"Petr Svarny",
"Matej Hoffmann",
"Jakub Rozlivek",
"Petr Svarny",
"Matej Hoffmann"
] | Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors (like cameras, RGB-D cameras, LIDARs), proximity sensors, or dedicated devices used in industrial settings like pads that are activated by the presence of the opera... |
Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration | https://ieeexplore.ieee.org/document/10341581/ | [
"Aran Mohammad",
"Moritz Schappler",
"Tim-Lukas Habich",
"Tobias Ortmaier",
"Aran Mohammad",
"Moritz Schappler",
"Tim-Lukas Habich",
"Tobias Ortmaier"
] | Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases. Ensuring safety is investigated in this work through various contact reactions on a real planar PR. External forces are estimated based on proprioceptive information... |
AmbiSense: Acoustic Field Based Blindspot-Free Proximity Detection and Bearing Estimation | https://ieeexplore.ieee.org/document/10341766/ | [
"Siddharth Rupavatharam",
"Xiaoran Fan",
"Caleb Escobedo",
"Daewon Lee",
"Larry Jackel",
"Richard Howard",
"Colin Prepscius",
"Daniel Lee",
"Volkan Isler",
"Siddharth Rupavatharam",
"Xiaoran Fan",
"Caleb Escobedo",
"Daewon Lee",
"Larry Jackel",
"Richard Howard",
"Colin Prepscius",
"Daniel Lee",
"Volkan Isler"
] | In this paper, we present AmbiSense, an acoustic field based sensing system that performs proximity detection and bearing estimation for safer physical human-robot interactions. A single low cost piezoelectric transducer is used to setup this novel acoustic sensing modality to create a blindspot-free sound field engulfing a robot arm. Two detection algorithms leveraging spectral information from r... |
Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots | https://ieeexplore.ieee.org/document/10341950/ | [
"Marie Harder",
"Maged Iskandar",
"Jinoh Lee",
"Alexander Dietrich",
"Marie Harder",
"Maged Iskandar",
"Jinoh Lee",
"Alexander Dietrich"
] | Since modern robots are supposed to work closely together with humans, physical human-robot interaction is gaining importance. One crucial aspect for safe collaboration is a robust collision reaction strategy that is triggered after an unintentional physical contact. In this work, we propose a dynamically-consistent collision reaction controller, where the reactive motion is performed in one parti... |
All Aware Robot Navigation in Human Environments Using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10341477/ | [
"Xiaojun Lu",
"Angela Faragasso",
"Atsushi Yamashita",
"Hajime Asama",
"Xiaojun Lu",
"Angela Faragasso",
"Atsushi Yamashita",
"Hajime Asama"
] | Mobile robots functioning in human environments should behave with a secure and socially-compliant manner. Although many studies have revealed the effectiveness of Deep Reinforcement Learning (DRL) in robot navigation, most of them can only handle the presence of human as independent individuals. Failing to consider groups may lead to the robot getting stuck or behaving rudely, and omitting to sep... |
Relationship Between Ankle Assistive Torque and Biomechanical Gait Metrics in Individuals After Stroke | https://ieeexplore.ieee.org/document/10341864/ | [
"Jesús de Miguel-Fernández",
"Camille Pescatore",
"Alba Mesa-Garrido",
"Cindy Rikhof",
"Erik Prinsen",
"Josep M. Font-Llagunes",
"Joan Lobo-Prat",
"Jesús de Miguel-Fernández",
"Camille Pescatore",
"Alba Mesa-Garrido",
"Cindy Rikhof",
"Erik Prinsen",
"Josep M. Font-Llagunes",
"Joan Lobo-Prat"
] | The effectiveness of robotic exoskeletons for post-stroke gait rehabilitation might be limited as the control parameters of these devices do not adapt to key biomechanical descriptors. The main contribution of this study is to examine post-stroke gait with the aim of finding relationships between exoskeleton control parameters and a comprehensive set of biomechanical metrics. Five stroke survivors... |
Experimental Evaluation of a Transparent Operation Mode for a Lower-Limb Exoskeleton Designed for Children with Cerebral Palsy | https://ieeexplore.ieee.org/document/10342182/ | [
"Rafhael M. Andrade",
"Stefano Sapienza",
"Abolfazl Mohebbi",
"Eric E. Fabara",
"Paolo Bonato",
"Rafhael M. Andrade",
"Stefano Sapienza",
"Abolfazl Mohebbi",
"Eric E. Fabara",
"Paolo Bonato"
] | Robot-assisted rehabilitation is expected to reduce locomotor limitations of children and young adults with Cerebral Palsy (CP). However, to achieve this result, it is essential that the robot is transparent, allowing the user to move freely, and generate joint torques only when the exoskeleton joints significantly deviate from physiological gait patterns. Nevertheless, the development of transpar... |
Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters | https://ieeexplore.ieee.org/document/10342498/ | [
"José A. Montes-Pérez",
"Gray Cortright Thomas",
"Robert D. Gregg",
"José A. Montes-Pérez",
"Gray Cortright Thomas",
"Robert D. Gregg"
] | Emerging partial-assistance exoskeletons can enhance able-bodied performance and aid people with patho-logical gait or age-related immobility. However, every person walks differently, which makes it difficult to directly compute assistance torques from joint kinematics. Gait-state estimation-based controllers use phase (normalized stride time) and task variables (e.g., stride length and ground inc... |
State- Based Control for an Actuated Reciprocal Gait Orthosis | https://ieeexplore.ieee.org/document/10342037/ | [
"Simon Eckstein",
"Bent Leudesdorff",
"Christophe Maufroy",
"Urs Schneider",
"C. David Remy",
"Simon Eckstein",
"Bent Leudesdorff",
"Christophe Maufroy",
"Urs Schneider",
"C. David Remy"
] | Upright locomotion has many health benefits for patients with spinal cord injury. Passive gait orthoses, such as an isocentric reciprocal gait orthosis (IRGO), allow patients to walk by pushing themselves forward with forearm supports. To move the legs, the IRGO physically couples the motion of stance and swing leg through a linkage. Unfortunately, this locomotion is associated with high metabolic... |
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control | https://ieeexplore.ieee.org/document/10342136/ | [
"Katharine Walters",
"Gray C. Thomas",
"Jianping Lin",
"Robert D. Gregg",
"Katharine Walters",
"Gray C. Thomas",
"Jianping Lin",
"Robert D. Gregg"
] | Robotic ankle exoskeletons have been shown to reduce human effort during walking. However, existing ankle exoskeleton control approaches are limited in their ability to apply biomimetic torque across diverse tasks outside of the controlled lab environment. Energy shaping control can provide task-invariant assistance without estimating the user's state, classifying task, or reproducing pre-defined ... |
Human-in-the-Loop Optimization of Active Back-Support Exoskeleton Assistance Via Lumbosacral Joint Torque Estimation | https://ieeexplore.ieee.org/document/10341810/ | [
"Andreas Sochopoulos",
"Tommaso Poliero",
"Darwin Caldwell",
"Jesús Ortiz",
"Christian Di Natali",
"Andreas Sochopoulos",
"Tommaso Poliero",
"Darwin Caldwell",
"Jesús Ortiz",
"Christian Di Natali"
] | The assistive profile of an active back support exoskeleton is strongly dependent on the manual tuning of controller gains based on previous experience and trial-and-error. Human-in-the-loop (HIL) optimization allows for automatic tuning of assistive profiles to different subjects. Most HIL methods make use of intrusive sensors that could affect out-of-the-lab exoskeleton adoption. Therefore, we p... |
Closed-Loop Feedback Control of Human Step Width During Walking by Mediolaterally Acting Robotic Hip Exoskeleton | https://ieeexplore.ieee.org/document/10342127/ | [
"Abbas Alili",
"Varun Nalam",
"Aaron Fleming",
"Ming Liu",
"Jesse Dean",
"Helen He Huang",
"Abbas Alili",
"Varun Nalam",
"Aaron Fleming",
"Ming Liu",
"Jesse Dean",
"Helen He Huang"
] | Maintaining balance during gait in the mediolateral direction requires more active motor control than in the anteroposterior direction. Step width modulation is a key strategy used by healthy individuals to achieve mediolateral walking balance, but it can be disrupted in populations with poor sensorimotor integration and weak hip abductors, such as the elderly, stroke patients, and people with low... |
Comparing the Effectiveness of Control Methodologies of a Hip-Knee-Ankle Exoskeleton During Squatting | https://ieeexplore.ieee.org/document/10341374/ | [
"Jared M. Li",
"Owen Winship",
"Stefan Fasano",
"Bridget Longo",
"Nicole M. Esposito",
"Gregory S. Sawicki",
"Robert J. Griffin",
"Gwendolyn M. Bryan",
"Jared M. Li",
"Owen Winship",
"Stefan Fasano",
"Bridget Longo",
"Nicole M. Esposito",
"Gregory S. Sawicki",
"Robert J. Griffin",
"Gwendolyn M. Bryan"
] | Manual materials handling occupations often involve repetitive lifting, lowering, and carrying motions, which can lead to muscular fatigue and/or injury. The risk increases when loads must be worn on the body for the entirety of a job shift. Exoskeletons have been developed to assist these types of motions, but require the user to bear the weight of a load through their body. Load carriage exoskel... |
A Novel Control Law for Multi-Joint Human-Robot Interaction Tasks While Maintaining Postural Coordination | https://ieeexplore.ieee.org/document/10342501/ | [
"Keya Ghonasgi",
"Reuth Mirsky",
"Adrian M. Haith",
"Peter Stone",
"Ashish D. Deshpande",
"Keya Ghonasgi",
"Reuth Mirsky",
"Adrian M. Haith",
"Peter Stone",
"Ashish D. Deshpande"
] | Exoskeleton robots are capable of safe torque-controlled interactions with a wearer while moving their limbs through predefined trajectories. However, affecting and assisting the wearer's movements while incorporating their inputs (effort and movements) effectively during an interaction re-mains an open problem due to the complex and variable nature of human motion. In this paper, we present a con... |
Investigations into Customizing Bilateral Ankle Exoskeletons to Increase Vertical Jumping Performance | https://ieeexplore.ieee.org/document/10341974/ | [
"Emily A. Bywater",
"Roberto Leo",
"Elliott J. Rouse",
"Emily A. Bywater",
"Roberto Leo",
"Elliott J. Rouse"
] | Exoskeletons have shown great potential to enhance locomotion by augmenting the lower limb. While most research has focused on steady-state ambulatory activities, the ability to assist transient, ballistic tasks is also important for understanding the potential of exoskeletons in mobility enhancement. In this preliminary study (N = 5), we developed an individually-customized control strategy to as... |
A Robotic Assistance Personalization Control Approach of Hip Exoskeletons for Gait Symmetry Improvement | https://ieeexplore.ieee.org/document/10341440/ | [
"Qiang Zhang",
"Xikai Tu",
"Jennie Si",
"Michael D. Lewek",
"He Huang",
"Qiang Zhang",
"Xikai Tu",
"Jennie Si",
"Michael D. Lewek",
"He Huang"
] | Healthy human locomotion functions with good gait symmetry depend on rhythmic coordination of the left and right legs, which can be deteriorated by neurological disorders like stroke and spinal cord injury. Powered exoskeletons are promising devices to improve impaired people's locomotion functions, like gait symmetry. However, given higher uncertainties and the time-varying nature of human-robot ... |
Motion Degeneracy in Self-supervised Learning of Elevation Angle Estimation for 2D Forward-Looking Sonar | https://ieeexplore.ieee.org/document/10341601/ | [
"Yusheng Wang",
"Yonghoon Ji",
"Chujie Wu",
"Hiroshi Tsuchiya",
"Hajime Asama",
"Atsushi Yamashita",
"Yusheng Wang",
"Yonghoon Ji",
"Chujie Wu",
"Hiroshi Tsuchiya",
"Hajime Asama",
"Atsushi Yamashita"
] | 2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D information per image for 3D mapping and robot navigation during fly-through missions. Recent learning-based methods have demonstrated their strengths, but there are sti... |
MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Navigation and Inspection | https://ieeexplore.ieee.org/document/10341436/ | [
"Olaya Álvarez-Tuñón",
"Hemanth Kanner",
"Luiza Ribeiro Marnet",
"Huy Xuan Pham",
"Jonas le Fevre Sejersen",
"Yury Brodskiy",
"Erdal Kayacan",
"Olaya Álvarez-Tuñón",
"Hemanth Kanner",
"Luiza Ribeiro Marnet",
"Huy Xuan Pham",
"Jonas le Fevre Sejersen",
"Yury Brodskiy",
"Erdal Kayacan"
] | This paper presents MIMIR-UW, a multipurpose underwater synthetic dataset for SLAM, depth estimation, and object segmentation to bridge the gap between theory and application in underwater environments. MIMIR-UW integrates three camera sensors, inertial measurements, and ground truth for robot pose, image depth, and object segmentation. The underwater robot is deployed within a pipe exploration sc... |
Marine Vessel Attitude Estimation from Coastline and Horizon | https://ieeexplore.ieee.org/document/10341522/ | [
"Shobhit Singhal",
"Yunke Ao",
"Deran Maas",
"Bruno Arsenali",
"Stefano Maranò",
"Shobhit Singhal",
"Yunke Ao",
"Deran Maas",
"Bruno Arsenali",
"Stefano Maranò"
] | Reliable monitoring of vessel motions is crucial for safe and efficient operation of marine vessels. Pitching and rolling motions are commonly monitored using high-grade inertial measurement units (IMUs). However, such sensors become unreliable in presence of long-lasting accelerations. In this work, we propose a method for attitude estimation of marine vessels relying on an image stream and known... |
DANDELION: An ASV Deployed Micro-Profiler Array for Air-Sea Observation | https://ieeexplore.ieee.org/document/10342079/ | [
"Zhihao Fan",
"Chenxin Lyu",
"Zheng Zeng",
"Zhihao Fan",
"Chenxin Lyu",
"Zheng Zeng"
] | The air-sea interface is vital in studying heat and energy exchange between the sea and air. The field observation technology of the air-sea interface is an effective way to explore the nature of the air-sea interface. This paper presents an observation system called DANDELION for the air-sea interface environment. The system includes an automatic surface vehicle (ASV), a launching device using a ... |
Long-Endurance Optical Seafloor Imaging Using Underwater Gliders: Concept, Development and Initial Trials | https://ieeexplore.ieee.org/document/10341259/ | [
"Daniel Gregorek",
"Abraham Tibebu",
"Eduardo Caudet",
"Carlos Barrera",
"Ralf Bachmayer",
"Daniel Gregorek",
"Abraham Tibebu",
"Eduardo Caudet",
"Carlos Barrera",
"Ralf Bachmayer"
] | In-situ observation of the deep-sea floor is a fundamental need for marine sciences and ecosystem monitoring. This work proposes a novel robotic approach for benthic observations in the deep sea using underwater gliders. The glider is equipped with a downward looking camera system to acquire high resolution optical images of the seafloor. The system works fully autonomous and has the potential for... |
Disturbance Preview for Non-Linear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments | https://ieeexplore.ieee.org/document/10341695/ | [
"Kyle L. Walker",
"Francesco Giorgio-Serchi",
"Kyle L. Walker",
"Francesco Giorgio-Serchi"
] | Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wave disturbances causing hazardous state perturbations. Approaches to tackle this problem have varied, but one promising solution is to adopt predictive control methods. Given the predictable nature of ocean waves, the pot... |
An Ensemble of Online Estimation Methods for One Degree-of-Freedom Models of Unmanned Surface Vehicles: Applied Theory and Preliminary Field Results with Eight Vehicles | https://ieeexplore.ieee.org/document/10341433/ | [
"Tyler M. Paine",
"Michael R. Benjamin",
"Tyler M. Paine",
"Michael R. Benjamin"
] | In this paper we report an experimental evaluation of three popular methods for online system identification of unmanned surface vehicles (USVs) which were implemented as an ensemble: certifiably stable shallow recurrent neural network (RNN), adaptive identification (AID), and recursive least squares (RLS). The algorithms were deployed on eight USVs for a total of 30 hours of online estimation. Du... |
Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning | https://ieeexplore.ieee.org/document/10342389/ | [
"Xi Lin",
"John McConnell",
"Brendan Englot",
"Xi Lin",
"John McConnell",
"Brendan Englot"
] | Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensor-based navigation problem in such environments under no prior knowledge of the current flow and obstacles. We propose a Distributional Reinforcement Learning (RL) based local path planner that learns return distributions which capture the u... |
Towards Full Actuation: Reconfigurable Micro Underwater Robots | https://ieeexplore.ieee.org/document/10341621/ | [
"Nathalie Bauschmann",
"Daniel A Duecker",
"Thies L Alff",
"Rene C Hochdahl",
"Robert Seifried",
"Nathalie Bauschmann",
"Daniel A Duecker",
"Thies L Alff",
"Rene C Hochdahl",
"Robert Seifried"
] | Exploration and monitoring of hazardous environments, such as legacy nuclear storage ponds, constitute safety-critical missions to be performed by small-scale underwater robots. These monitoring tasks require fully actuated robot platforms in order to allow for hovering while inspecting objects of interest in detail. A severe bottleneck arises from the restricted access points commonly encountered... |
Water Surface Walking of Six-Legged Robot by Controlling Attitude of Feet When It Enter Water | https://ieeexplore.ieee.org/document/10342494/ | [
"Yuetong He",
"Yanqiu Zheng",
"Fumihiko Asano",
"Yuetong He",
"Yanqiu Zheng",
"Fumihiko Asano"
] | This paper presents a water walking robot with 6 feet which consists of a rimless wheel and a flywheel, and has a foot attached to the tip of each leg. First, in order to make the robot walk on water, we propose a foot control method by imitating the legs of some animals that can walk on water. Second, in order to increase the robot's forward speed, we improved the control method. In addition we h... |
Perseus AUV: Towards Linear Convoying of Agile A-Sized AUVs Through Acoustic Track-and-Trail | https://ieeexplore.ieee.org/document/10341835/ | [
"Nicholas R. Rypkema",
"Supun Randeni",
"Michael Sacarny",
"Michael Benjamin",
"Michael Triantafyllou",
"Nicholas R. Rypkema",
"Supun Randeni",
"Michael Sacarny",
"Michael Benjamin",
"Michael Triantafyllou"
] | We present the Perseus autonomous underwater vehicle (AUV) - an A-sized aaA-size stands for the standard sonobuoy [2] form factor, with a maximum diameter of 124 mm and a length of around 0.9 m, ensuring the ability to launch from standard sonobuoy launchers onboard a wide array of fixed wing and rotary wing air crafts, surface ships and submarines [3] micro AUV, outfitted with a low-cost passive ... |
An Open-Source Robotic Chinese Chess Player | https://ieeexplore.ieee.org/document/10341697/ | [
"Shan An",
"Guangfu Che",
"Jinghao Guo",
"Yanjie Xu",
"Guoxin Wang",
"Konstantinos A. Tsintotas",
"Fukai Zhang",
"Junjie Ye",
"Changhong Fu",
"Haogang Zhu",
"Hong Zhang",
"Shan An",
"Guangfu Che",
"Jinghao Guo",
"Yanjie Xu",
"Guoxin Wang",
"Konstantinos A. Tsintotas",
"Fukai Zhang",
"Junjie Ye",
"Changhong Fu",
"Haogang Zhu",
"Hong Zhang"
] | Consumer robots can accompany children growing up, improving their abilities while playing and entertaining. This paper presents an open-source, practical, low-cost robotic Chinese chess player. The proposed system includes an elaborate mechanical structure, a simple kinematic solution, a novel robot operating system, real-time and accurate chess recognition. Regarding its mechanical design, it co... |
ETAUS: An Edge and Trustworthy AI UAV System with Self-Adaptivity for Air Quality Monitoring | https://ieeexplore.ieee.org/document/10342087/ | [
"Chun-Hsian Huang",
"Wen-Tung Chen",
"Yi-Chun Chang",
"Kuan-Ting Wu",
"Ren-Hong Wang",
"Chun-Hsian Huang",
"Wen-Tung Chen",
"Yi-Chun Chang",
"Kuan-Ting Wu",
"Ren-Hong Wang"
] | This work presents the ETAUS, an Edge and Trustworthy AI UAV System, as a mobile sensing platform for air quality monitoring. ETAUS employs an FPGA device as the main hardware computing architecture rather than relying solely on a microprocessor or integrating with GPUs to meet real-time processing demands and achieve adaptivity and scalability. ETAUS contains a neural engine that can execute our ... |
FPGADDS: An Intra-FPGA Data Distribution Service for ROS 2 Robotics Applications | https://ieeexplore.ieee.org/document/10341921/ | [
"Christian Lienen",
"Sorel Horst Middeke",
"Marco Platzner",
"Christian Lienen",
"Sorel Horst Middeke",
"Marco Platzner"
] | Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation of many relevant tasks in robotics. ROS is the de-facto programming standard for robotics and decomposes an application into a set of communicating nodes. ReconR... |
Enhancing 5G-Enabled Robots Autonomy by Radio-Aware Semantic Maps | https://ieeexplore.ieee.org/document/10342279/ | [
"Adrian Lendinez",
"Lanfranco Zanzi",
"Sandra Moreno",
"Guillem Garí",
"Xi Li",
"Renxi Qiu",
"Xavier Costa-Pérez",
"Adrian Lendinez",
"Lanfranco Zanzi",
"Sandra Moreno",
"Guillem Garí",
"Xi Li",
"Renxi Qiu",
"Xavier Costa-Pérez"
] | Future robotics systems aiming for true autonomy must be robust against dynamic and unstructured environments. The 5th generation (5G) mobile network is expected to provide ubiquitous, reliable and low-latency wireless communications to ground robots, especially in outdoor scenarios. Empowered by 5G, the digital transformation of robotics is emerging, enabled by the cloud-native paradigm and the a... |
SkiROS2: A Skill-Based Robot Control Platform for ROS | https://ieeexplore.ieee.org/document/10342216/ | [
"Matthias Mayr",
"Francesco Rovida",
"Volker Krueger",
"Matthias Mayr",
"Francesco Rovida",
"Volker Krueger"
] | The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even “batch size 1” in production created a need for robot control system architectures that can provide the required flexibility. Such architectures must not only have a sufficient knowledge integration framework. It must also support autonomou... |
Soy: An Efficient MILP Solver for Piecewise-Affine Systems | https://ieeexplore.ieee.org/document/10342011/ | [
"Haoze Wu",
"Min Wu",
"Dorsa Sadigh",
"Clark Barrett",
"Haoze Wu",
"Min Wu",
"Dorsa Sadigh",
"Clark Barrett"
] | Piecewise-affine (PWA) systems are widely used for modeling and control of robotics problems including modeling contact dynamics. A common approach is to encode the control problem of the PWA system as a Mixed-Integer Convex Program (MICP), which can be solved by general-purpose off-the-shelf MICP solvers. To mitigate the scalability challenge of solving these MICP problems, existing work focuses ... |
A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry | https://ieeexplore.ieee.org/document/10342295/ | [
"Cora A. Dimmig",
"Anna Goodridge",
"Gabriel Baraban",
"Pupei Zhu",
"Joyraj Bhowmick",
"Marin Kobilarov",
"Cora A. Dimmig",
"Anna Goodridge",
"Gabriel Baraban",
"Pupei Zhu",
"Joyraj Bhowmick",
"Marin Kobilarov"
] | This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial vehicle and enable it to perform safe and reliable grasping. These components include a custom collision tolerant cage and low-cost Gripper Extension Package, which... |
Ungar - A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming | https://ieeexplore.ieee.org/document/10341365/ | [
"Flavio De Vincenti",
"Stelian Coros",
"Flavio De Vincenti",
"Stelian Coros"
] | We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while retaining maximum runtime efficiency. Our framework provides syntactic sugar to allow for expressive formulations of a rich set of structured dynamical systems. While ... |
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning | https://ieeexplore.ieee.org/document/10342109/ | [
"Yu-Shun Hsiao",
"Siva Kumar Sastry Hari",
"Balakumar Sundaralingam",
"Jason Yik",
"Thierry Tambe",
"Charbel Sakr",
"Stephen W. Keckler",
"Vijay Janapa Reddi",
"Yu-Shun Hsiao",
"Siva Kumar Sastry Hari",
"Balakumar Sundaralingam",
"Jason Yik",
"Thierry Tambe",
"Charbel Sakr",
"Stephen W. Keckler",
"Vijay Janapa Reddi"
] | High-dimensional motion generation requires nu-merical precision for smooth, collision-free solutions. Typically, double-precision or single-precision floating-point (FP) formats are utilized. Using these for big tensors imposes a strain on the memory bandwidth provided by the devices and alters the memory footprint, hence limiting their applicability to low-power edge devices needed for mobile ro... |
Scalable. Intuitive Human to Robot Skill Transfer with Wearable Human Machine Interfaces: On Complex, Dexterous Tasks | https://ieeexplore.ieee.org/document/10341661/ | [
"Felipe Sanches",
"Geng Gao",
"Nathan Elangovan",
"Ricardo V. Godoy",
"Jayden Chapman",
"Ke Wang",
"Patrick Jarvis",
"Minas Liarokapis",
"Felipe Sanches",
"Geng Gao",
"Nathan Elangovan",
"Ricardo V. Godoy",
"Jayden Chapman",
"Ke Wang",
"Patrick Jarvis",
"Minas Liarokapis"
] | The advent of collaborative industrial and house-hold robotics has blurred the demarcation between the human and robot workspace. The capability of robots to function efficiently alongside humans requires new research to be conducted in dynamic environments as opposed to the traditional well-structured laboratory. In this work, we propose an efficient skill transfer methodology comprising intuitiv... |
Towards Cooperative Flight Control Using Visual-Attention | https://ieeexplore.ieee.org/document/10342229/ | [
"Lianhao Yin",
"Makram Chahine",
"Tsun-Hsuan Wang",
"Tim Seyde",
"Chao Liu",
"Mathias Lechner",
"Ramin Hasani",
"Daniela Rus",
"Lianhao Yin",
"Makram Chahine",
"Tsun-Hsuan Wang",
"Tim Seyde",
"Chao Liu",
"Mathias Lechner",
"Ramin Hasani",
"Daniela Rus"
] | The cooperation of a human pilot with an autonomous agent during flight control realizes parallel autonomy. We propose an air-guardian system that facilitates cooperation between a pilot with eye tracking and a parallel end-to-end neural control system. Our vision-based air-guardian system combines a causal continuous-depth neural network model with a cooperation layer to enable parallel autonomy ... |
Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control | https://ieeexplore.ieee.org/document/10341376/ | [
"Aleksandar Jokic",
"Amir Khazraei",
"Milica Petrovic",
"Zivana Jakovljevic",
"Miroslav Pajic",
"Aleksandar Jokic",
"Amir Khazraei",
"Milica Petrovic",
"Zivana Jakovljevic",
"Miroslav Pajic"
] | Visual servoing represents a control strategy capable of driving dynamical systems from the current to the desired pose, when the only available information is the images generated at both poses. In this work, we analyze vulnerability of such systems and introduce two types of attacks to deceive visual servoing controller within a wheeled mobile robotic system. The attack goal is to alter the visu... |
An Event-Based Tracking Control Framework for Multirotor Aerial Vehicles Using a Dynamic Vision Sensor and Neuromorphic Hardware | https://ieeexplore.ieee.org/document/10342437/ | [
"Sotirios N. Aspragkathos",
"Evangelos Ntouros",
"George C. Karras",
"B. Linares-Barranco",
"T. Serrano-Gotarredona",
"Kostas J. Kyriakopoulos",
"Sotirios N. Aspragkathos",
"Evangelos Ntouros",
"George C. Karras",
"B. Linares-Barranco",
"T. Serrano-Gotarredona",
"Kostas J. Kyriakopoulos"
] | In this paper, we present an event-based control framework for the efficient tracking of contour-based areas, such as road pavements, using a multirotor aerial vehicle equipped with a bio-inspired Dynamic Vision Sensor (DVS). Concerning the detection part, the DVS camera captures events, which are asynchronously fed into a Neuromorphic Hough Transform algorithm running on a SpiNN-3 board and imple... |
Shape Servoing of a Soft Object Using Fourier Series and a Physics-Based Model | https://ieeexplore.ieee.org/document/10342354/ | [
"Fouad Makiyeh",
"François Chaumette",
"Maud Marchal",
"Alexandre Krupa",
"Fouad Makiyeh",
"François Chaumette",
"Maud Marchal",
"Alexandre Krupa"
] | In this paper, we propose a physics-based robot controller to deform a soft object toward a desired 3D shape using a limited number of handling points. For this purpose, the shape of the deformable object is represented using Fourier descriptors. We derive the analytical relation that provides the variation of the Fourier coefficients as a function of the movements of the handling points by consid... |
Visual Servoing on Wheels: Robust Robot Orientation Estimation in Remote Viewpoint Control | https://ieeexplore.ieee.org/document/10341260/ | [
"Luke Robinson",
"Daniele De Martini",
"Matthew Gadd",
"Paul Newman",
"Luke Robinson",
"Daniele De Martini",
"Matthew Gadd",
"Paul Newman"
] | This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. Specifically, we apply a learning based approach to reliably estimate the pose of a robot in the image frame of a 2D camera upon which a visual servoing control system can be deployed. To all... |
Maintaining Visibility of Dynamic Objects in Cluttered Environments Using Mobile Manipulators and Vector Field Inequalities | https://ieeexplore.ieee.org/document/10341763/ | [
"Fatih Dursun",
"Bruno Vilhena Adorno",
"Simon Watson",
"Wei Pan",
"Fatih Dursun",
"Bruno Vilhena Adorno",
"Simon Watson",
"Wei Pan"
] | Vision-based perception has become prevalent in robotic applications, especially in those where the control loop relies on visual data, such as visual servoing. For those applications, ensuring that the features or target object remain visible to the camera is critical, necessitating visibility-aware control. In this paper, we propose a method to guarantee the visibility of a dynamic object using ... |
Shape Control of Variable Length Continuum Robots Using Clothoid-Based Visual Servoing | https://ieeexplore.ieee.org/document/10342057/ | [
"Abhinav Gandhi",
"Shou-Shan Chiang",
"Cagdas D. Onal",
"Berk Calli",
"Abhinav Gandhi",
"Shou-Shan Chiang",
"Cagdas D. Onal",
"Berk Calli"
] | In this paper, we present a novel clothoid-based visual servoing method for controlling the shape of a variable length continuum manipulator. Clothoids are curves with linearly changing curvature. They allow us to obtain a smooth representation of a continuum manipulator's shape in a compact form with few parameters. Using this curve model, we generate image features that are used in an adaptive v... |
Keypoints-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space | https://ieeexplore.ieee.org/document/10342503/ | [
"Sreejani Chatterjee",
"Abhay C. Karade",
"Abhinav Gandhi",
"Berk Calli",
"Sreejani Chatterjee",
"Abhay C. Karade",
"Abhinav Gandhi",
"Berk Calli"
] | This paper presents a visual servoing method for controlling a robot in the configuration space by purely using its natural features. We first created a data collection pipeline that uses camera intrinsics, extrinsics, and forward kinematics to generate 2D projections of a robot's joint locations (keypoints) in image space. Using this pipeline, we are able to collect large sets of real-robot data,... |
Autonomous Marker-Less Rapid Aerial Grasping | https://ieeexplore.ieee.org/document/10342033/ | [
"Erik Bauer",
"Barnabas Gavin Cangan",
"Robert K. Katzschmann",
"Erik Bauer",
"Barnabas Gavin Cangan",
"Robert K. Katzschmann"
] | In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world scenarios. Robotic aerial grasping using drones promises fast pick-and-place solutions with a large increase in mobility over other robotic solutions. Utilizing ... |
Vision-Based Oxy-Fuel Torch Control for Robotic Metal Cutting | https://ieeexplore.ieee.org/document/10341532/ | [
"James Akl",
"Yash Patil",
"Chinmay Todankar",
"Berk Calli",
"James Akl",
"Yash Patil",
"Chinmay Todankar",
"Berk Calli"
] | The automation of key processes in metal cutting would substantially benefit many industries such as manufacturing and metal recycling. We present a vision-based control scheme for automated metal cutting with oxy-fuel torches, an established cutting medium in industry. The system consists of a robot equipped with a cutting torch and an eye-in-hand camera observing the scene behind a tinted visor.... |
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators | https://ieeexplore.ieee.org/document/10341714/ | [
"Riccardo Parosi",
"Mattia Risiglione",
"Darwin G. Caldwell",
"Claudio Semini",
"Victor Barasuol",
"Riccardo Parosi",
"Mattia Risiglione",
"Darwin G. Caldwell",
"Claudio Semini",
"Victor Barasuol"
] | We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows for fast end-effector motions and recovery that leads to robust visual servoing. The whole approach and pipeline can be generalized for any mobile platform (wheel... |
Lyapunov Constrained Safe Reinforcement Learning for Multicopter Visual Servoing | https://ieeexplore.ieee.org/document/10341561/ | [
"Dafang Yu",
"Mengxin Xu",
"Zhe Liu",
"Hesheng Wang",
"Dafang Yu",
"Mengxin Xu",
"Zhe Liu",
"Hesheng Wang"
] | Traditional methods based on Lyapunov analysis and learning-based approaches such as reinforcement learning (RL) are two powerful tools in visual servo tasks. Traditional methods are interpretable and their stability can be guar-anteed by Lyapunov analysis. However, they tend to have a high dependency on an accurate system dynamic model. RL approaches learn to act based on past experiences and thu... |
Employing Multi-Layer, Sensorised Kirigami Grippers for Single-Grasp Based Identification of Objects and Force Exertion Estimation | https://ieeexplore.ieee.org/document/10341390/ | [
"Junbang Liang",
"Joao Buzzatto",
"Bryan Busby",
"Ricardo V. Godoy",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce A. MacDonald",
"Minas Liarokapis",
"Junbang Liang",
"Joao Buzzatto",
"Bryan Busby",
"Ricardo V. Godoy",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce A. MacDonald",
"Minas Liarokapis"
] | Soft robotic devices have been popular in handling intricate grasping and dexterous manipulation tasks, serving as an alternative to conventional, rigid end-effectors. These devices are relatively simple, lightweight, and cost-effective. Recently, kirigami based structures have been used to create low-cost and disposable soft robotic grippers and hands. These grippers undergo a complex post-contac... |
A Finite-Time State-Dependent Differential Riccati Equation Control Design for Closed-Loop SMA-Actuated Hip Joint | https://ieeexplore.ieee.org/document/10341562/ | [
"V. Perez-Sanchez",
"S. R. Nekoo",
"B. Arrue",
"A. Ollero",
"V. Perez-Sanchez",
"S. R. Nekoo",
"B. Arrue",
"A. Ollero"
] | This paper presents the modeling and closed loop control of the shape-memory-alloy (SMA)-actuated hip joint of a flapping-wing flying robot (FWFR). Despite the lightweight legs/claw mechanism, a strong force of grasping is needed. The SMAs show high force delivery; however, it is difficult to control (position and temperature) the actuation due to the necessity of high currents for warming up, and... |
Rapid Grasping of Fabric Using Bionic Soft Grippers with Elastic Instability | https://ieeexplore.ieee.org/document/10341428/ | [
"Zechen Xiong",
"Zihan Guo",
"Li Yuan",
"Yufeng Su",
"Yitong Liu",
"Hod Lipson",
"Zechen Xiong",
"Zihan Guo",
"Li Yuan",
"Yufeng Su",
"Yitong Liu",
"Hod Lipson"
] | Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of grippers require the ability to close a large distance rapidly. For example, grasping cloth typically requires pressing a wide span of fabric into a graspable cusp. Besides, the ability to perform ... |
Design of a Cable Driven Wearable Fitness Device for Upper Limb Exercise | https://ieeexplore.ieee.org/document/10342373/ | [
"Junghoon Park",
"Dong Hyun Kim",
"SeungYong Hyung",
"Gyowook Shin",
"Youngtae G. Kim",
"Sang-Hun Kim",
"Chiyul Yoon",
"Sungchan Ko",
"Kyoungwoon Hahm",
"Minhyung Lee",
"Junghoon Park",
"Dong Hyun Kim",
"SeungYong Hyung",
"Gyowook Shin",
"Youngtae G. Kim",
"Sang-Hun Kim",
"Chiyul Yoon",
"Sungchan Ko",
"Kyoungwoon Hahm",
"Minhyung Lee"
] | To provide an alternative to conventional large-scale fitness equipment, we previously developed a soft passive wearable device for upper limb resistance exercises that utilized elastic exercise bands. However, the user was required to manually adjust the level of strength. In this paper, we introduce a novel wearable fitness device for upper limb exercise that constitutes cable-driven actuation t... |
Soft Cap for Vine Robots | https://ieeexplore.ieee.org/document/10341377/ | [
"Cem Suulker",
"Sophie Skach",
"Danyaal Kaleel",
"Taqi Abrar",
"Zain Murtaza",
"Dilara Suulker",
"Kaspar Althoefer",
"Cem Suulker",
"Sophie Skach",
"Danyaal Kaleel",
"Taqi Abrar",
"Zain Murtaza",
"Dilara Suulker",
"Kaspar Althoefer"
] | Growing robots based on the eversion principle are known for their ability to extend rapidly, from within, along their longitudinal axis, and, in doing so, reach deep into hitherto inaccessible, remote spaces. Despite many advantages, vine robots also present significant challenges, one of which is maintaining sensory payload at the tip without restricting the eversion process. A variety of tip me... |
Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing | https://ieeexplore.ieee.org/document/10341471/ | [
"Joaquín Royo-Miquel",
"Masashi Hamaya",
"Cristian C. Beltran-Hernandez",
"Kazutoshi Tanaka",
"Joaquín Royo-Miquel",
"Masashi Hamaya",
"Cristian C. Beltran-Hernandez",
"Kazutoshi Tanaka"
] | This study aims to achieve autonomous robotic assembly under uncertain conditions arising from imprecise goal positioning and variations in the angle of the grasped part. Soft robots are suitable for such uncertain and contact-rich environments and are capable of insertion tasks with imprecise goal positions. However, we may also struggle to handle further uncertainty, such as variations in graspi... |
High-Curvature Consecutive Tip Steering of a Soft Growing Robot for Improved Target Reachability | https://ieeexplore.ieee.org/document/10341407/ | [
"Dong-Geol Lee",
"Nam Gyun Kim",
"Jee-Hwan Ryu",
"Dong-Geol Lee",
"Nam Gyun Kim",
"Jee-Hwan Ryu"
] | Over the years, soft growing robots that allow the feeding of new materials at their tips have attracted considerable attention owing to their unique locomotion characteristics. However, accessing targets over highly curved passages by steering compliant continuum bodies remains challenging. To this end, this study proposes a new tip steering mechanism that imparts soft growing robots with consecu... |
Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling | https://ieeexplore.ieee.org/document/10341262/ | [
"Jan Peters",
"Cora Maria Sourkounis",
"Mats Wiese",
"Tom Kwasnitschka",
"Annika Raatz",
"Jan Peters",
"Cora Maria Sourkounis",
"Mats Wiese",
"Tom Kwasnitschka",
"Annika Raatz"
] | Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An appli... |
Locomotion and Obstacle Avoidance of a Worm-Like Soft Robot | https://ieeexplore.ieee.org/document/10341586/ | [
"Sean Even",
"Yasemin Ozkan-Aydin",
"Sean Even",
"Yasemin Ozkan-Aydin"
] | This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and complex environments with ease. The robot consists of multiple segments, each with its own set of actuators, that are connected through rigid plastic joints, al... |
EasyGaze3D: Towards Effective and Flexible 3D Gaze Estimation from a Single RGB Camera | https://ieeexplore.ieee.org/document/10342361/ | [
"Jinkai Li",
"Jianxin Yang",
"Yuxuan Liu",
"Zhen Li",
"Guang-Zhong Yang",
"Yao Guo",
"Jinkai Li",
"Jianxin Yang",
"Yuxuan Liu",
"Zhen Li",
"Guang-Zhong Yang",
"Yao Guo"
] | Eye gaze can convey rich information of human intentions, which enables the social robots to comprehend the cognition and behavior of human targets. However, the existing 3D gaze estimation methods generally have high requirements either on the dedicated hardware or the quantity and quality of training databases, which largely limits their practical application values. This paper proposes EasyGaze... |
Efficient Visual Perception of Human-Robot Walking Environments Using Semi-Supervised Learning | https://ieeexplore.ieee.org/document/10341654/ | [
"Dmytro Kuzmenko",
"Oleksii Tsepa",
"Andrew Garrett Kurbis",
"Alex Mihailidis",
"Brokoslaw Laschowski",
"Dmytro Kuzmenko",
"Oleksii Tsepa",
"Andrew Garrett Kurbis",
"Alex Mihailidis",
"Brokoslaw Laschowski"
] | Convolutional neural networks trained using supervised learning can improve visual perception for human-robot walking. These advances have been possible due to largescale datasets like ExoNet and StairNet - the largest open-source image datasets of real-world walking environments. However, these datasets require vast amounts of manually annotated data, the development of which is time consuming an... |
Contactless Weight Estimation of Human Body and Body Parts for Safe Robotics-Assisted Casualty Extraction | https://ieeexplore.ieee.org/document/10342473/ | [
"Jaeyeon Lee",
"Ethan Quist",
"Jonathan Chambers",
"Michael Yip",
"Nathan Fisher",
"Jaeyeon Lee",
"Ethan Quist",
"Jonathan Chambers",
"Michael Yip",
"Nathan Fisher"
] | Deploying humans in a high-risk environment to extract casualties in order to provide medical attention is an inherently dangerous endeavor. To minimize this risk, Robotics and Autonomous Systems can be deployed in hazardous areas in place of human personnel to limit the exposure of first responders to various life-threatening conditions. The success of robotic extraction of injured persons depend... |
Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark | https://ieeexplore.ieee.org/document/10342034/ | [
"Jianning Deng",
"Peize Li",
"Kevin Dhaliwal",
"Chris Xiaoxuan Lu",
"Mohsen Khadem",
"Jianning Deng",
"Peize Li",
"Kevin Dhaliwal",
"Chris Xiaoxuan Lu",
"Mohsen Khadem"
] | Bronchoscopy is a medical procedure that involves the insertion of a flexible tube with a camera into the airways to survey, diagnose and treat lung diseases. Due to the complex branching anatomical structure of the bronchial tree and the similarity of the inner surfaces of the segmental airways, navigation systems are now being routinely used to guide the operator during procedures to access the ... |
Motion Magnification in Robotic Sonography: Enabling Pulsation-Aware Artery Segmentation | https://ieeexplore.ieee.org/document/10342220/ | [
"Dianye Huang",
"Yuan Bi",
"Nassir Navab",
"Zhongliang Jiang",
"Dianye Huang",
"Yuan Bi",
"Nassir Navab",
"Zhongliang Jiang"
] | Ultrasound (US) imaging is widely used for diagnosing and monitoring arterial diseases, mainly due to the advantages of being non-invasive, radiation-free, and real-time. In order to provide additional information to assist clinicians in diagnosis, the tubular structures are often segmented from US images. To improve the artery segmentation accuracy and stability during scans, this work presents a... |
Compact and Accurate Adaptive Width Radial Basis Function Neural Network with Discriminative Features for Thyroid Gland Segmentation | https://ieeexplore.ieee.org/document/10342090/ | [
"Haijun You",
"Junying Chen",
"Haijun You",
"Junying Chen"
] | The goal of this work is to develop a fast, compact, accurate, and robust neural network for automatic thyroid gland segmentation in medical ultrasound images when the computational resources are limited, such as portable intelligent medical diagnostic devices or robots. An adaptive width radial basis function neural network model with discriminative features is proposed in this work. The model co... |
Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation | https://ieeexplore.ieee.org/document/10341870/ | [
"FNU Abhimanyu",
"Andrew L. Orekhov",
"Ananya Bal",
"John Galeotti",
"Howie Choset",
"FNU Abhimanyu",
"Andrew L. Orekhov",
"Ananya Bal",
"John Galeotti",
"Howie Choset"
] | This paper presents a deep-learning model for deformable registration of ultrasound images at online rates, which we call U-RAFT. As its name suggests, U-RAFT is based on RAFT, a convolutional neural network for estimating optical flow. U-RAFT, however, can be trained in an unsupervised manner and can generate synthetic images for training vessel segmentation models. We propose and compare the reg... |
Thoracic Cartilage Ultrasound-CT Registration Using Dense Skeleton Graph | https://ieeexplore.ieee.org/document/10341575/ | [
"Zhongliang Jiang",
"Chenyang Li",
"Xuesong Lil",
"Nassir Navab",
"Zhongliang Jiang",
"Chenyang Li",
"Xuesong Lil",
"Nassir Navab"
] | Autonomous ultrasound (US) imaging has gained increased interest recently, and it has been seen as a potential solution to overcome the limitations of free-hand US exami-nations, such as inter-operator variations. However, it is still challenging to accurately map planned paths from a generic atlas to individual patients, particularly for thoracic applications with high acoustic-impedance bone str... |
Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation | https://ieeexplore.ieee.org/document/10342115/ | [
"Inbar Fried",
"Janine Hoelscher",
"Jason A. Akulian",
"Stephen Pizer",
"Ron Alterovitz",
"Inbar Fried",
"Janine Hoelscher",
"Jason A. Akulian",
"Stephen Pizer",
"Ron Alterovitz"
] | Bronchoscopy is currently the least invasive method for definitively diagnosing lung cancer, which kills more people in the United States than any other form of cancer. Successfully diagnosing suspicious lung nodules requires accurate localization of the bronchoscope relative to a planned biopsy site in the airways. This task is challenging because the lung deforms intraoperatively due to respirat... |
Robotic Scene Segmentation with Memory Network for Runtime Surgical Context Inference | https://ieeexplore.ieee.org/document/10342013/ | [
"Zongyu Li",
"Ian Reyes",
"Homa Alemzadeh",
"Zongyu Li",
"Ian Reyes",
"Homa Alemzadeh"
] | Surgical context inference has recently garnered significant attention in robot-assisted surgery as it can facilitate workflow analysis, skill assessment, and error detection. However, runtime context inference is challenging since it requires timely and accurate detection of the interactions among the tools and objects in the surgical scene based on the segmentation of video data. On the other ha... |
Modeling, Characterization, and Control of Bacteria-Inspired Bi-Flagellated Mechanism with Tumbling | https://ieeexplore.ieee.org/document/10341992/ | [
"Zhuonan Hao",
"Sangmin Lim",
"Mohammad Khalid Jawed",
"Zhuonan Hao",
"Sangmin Lim",
"Mohammad Khalid Jawed"
] | Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds number flow. Simplified hydrodynamics model, like Resistive Force Theories (RFT), lacks the capability to capture the dynamics of certain interactions known as bundling and tumbling. However, for the development of efficient... |
Evolving Physical Instinct for Morphology and Control Co-Adaption | https://ieeexplore.ieee.org/document/10342243/ | [
"Xinglin Chen",
"Da Huang",
"Minglong Li",
"Yishuai Cai",
"Zhuoer Wen",
"Zhongxuan Cai",
"Wenjing Yang",
"Xinglin Chen",
"Da Huang",
"Minglong Li",
"Yishuai Cai",
"Zhuoer Wen",
"Zhongxuan Cai",
"Wenjing Yang"
] | The capability of a robot to perform tasks depends not only on precise motion control, but also on a well-suited body morphology. Adapting both morphology and control of robots to improve their task performance has been a widely studied and long-standing issue. While the bio-inspired bi-level optimization framework has gained popularity in recent years, it suffers from high computation complexity ... |
Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit | https://ieeexplore.ieee.org/document/10341570/ | [
"Kazuhiro Miyama",
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba",
"Kazuhiro Miyama",
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba"
] | Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate the characteristics of the human body's epidermis, it increases the number of parts and makes assembly difficult in order to perform complex movements. In this st... |
Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail | https://ieeexplore.ieee.org/document/10341756/ | [
"Shunnosuke Yoshimura",
"Temma Suzuki",
"Masahiro Bando",
"Sota Yuzaki",
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba",
"Shunnosuke Yoshimura",
"Temma Suzuki",
"Masahiro Bando",
"Sota Yuzaki",
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba"
] | In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the feasibility as a robot and the kangaroo-mimetic structure. Based on the kangaroo's musculoskeletal structure, we determine the structure of the robot that enabl... |
Hovering Control of Flapping Wings in Tandem with Multi-Rotors | https://ieeexplore.ieee.org/document/10341523/ | [
"Aniket Dhole",
"Bibek Gupta",
"Adarsh Salagame",
"Xuejian Niu",
"Yizhe Xu",
"Kaushik Venkatesh",
"Paul Ghanem",
"Ioannis Mandralis",
"Eric Sihite",
"Alireza Ramezani",
"Aniket Dhole",
"Bibek Gupta",
"Adarsh Salagame",
"Xuejian Niu",
"Yizhe Xu",
"Kaushik Venkatesh",
"Paul Ghanem",
"Ioannis Mandralis",
"Eric Sihite",
"Alireza Ramezani"
] | This work briefly covers our efforts to stabilize the flight dynamics of Northeatern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design paradigms that are passively stable. However, Aerobat, in addition for being tailless, possesses morphing wings that add to the inherent complexity of flight control... |
Development of an Autonomous Modular Swimming Robot with Disturbance Rejection and Path Tracking | https://ieeexplore.ieee.org/document/10341571/ | [
"Hankun Deng",
"Colin Nitroy",
"Kundan Panta",
"Donghao Li",
"Shashank Priya",
"Bo Cheng",
"Hankun Deng",
"Colin Nitroy",
"Kundan Panta",
"Donghao Li",
"Shashank Priya",
"Bo Cheng"
] | Here we present the development of an autonomous modular swimming robot. This robot, named µBot 2.0, was upgraded from our previous robot platform µBot and features onboard computing, sensing, and power. Its compact size and modularity render the robot an ideal platform for studying bio-inspired robot swimming. The robot is equipped with a micro controller in its head that communicates with extern... |
A Highly Maneuverable Flying Squirrel Drone with Controllable Foldable Wings | https://ieeexplore.ieee.org/document/10341386/ | [
"Jun-Gill Kang",
"Dohyeon Lee",
"Soohee Han",
"Jun-Gill Kang",
"Dohyeon Lee",
"Soohee Han"
] | Typical drones with multi rotors are generally less maneuverable due to unidirectional thrust, which may be unfavorable to agile flight in very narrow and confined spaces. This paper suggests a new bio-inspired drone that is empowered with high maneuverability in a lightweight and easy-to-carry way. The proposed flying squirrel inspired drone has controllable foldable wings to cover a wider range ... |
Programable On-Chip Fabrication of Magnetic Soft Micro-Robot | https://ieeexplore.ieee.org/document/10342184/ | [
"Yuke Li",
"Xiaoqing Tang",
"Xiaoming Liu",
"Dan Liu",
"Zhuo Chen",
"Masaru Kojima",
"Qiang Huang",
"Tatsuo Arai",
"Yuke Li",
"Xiaoqing Tang",
"Xiaoming Liu",
"Dan Liu",
"Zhuo Chen",
"Masaru Kojima",
"Qiang Huang",
"Tatsuo Arai"
] | In the last decade, researchers have been trying to develop many microrobots that mimic the extraordinary abilities of bionts in complex environments. How to fabricate the biomimetic microrobot with satisfying deformability and complex shapes to realize desired precise motion is the key issue. In this paper, we proposed an efficient programable fabrication method of the magnetic soft micro-robot t... |
Forward/Inverse Kinematics Modeling for Tensegrity Manipulator Based on Goal-Conditioned Variational Autoencoder | https://ieeexplore.ieee.org/document/10341525/ | [
"Yuhei Yoshimitsu",
"Takayuki Osa",
"Shuhei Ikemoto",
"Yuhei Yoshimitsu",
"Takayuki Osa",
"Shuhei Ikemoto"
] | This paper uses a data-driven approach to model a highly redundantly driven tensegrity manipulator's forward and inverse kinematics. The tensegrity manipulator is based on a class-1 tensegrity with 20 struts and bends by 40 pneumatic actuators whose internal pressures are independently controlled. Based on the data obtained through random trials with the robot, a VAE-based kinematics model is trai... |
Nematode-Inspired Cable Routing Method for Cable Driven Redundant Manipulator* | https://ieeexplore.ieee.org/document/10341593/ | [
"Hoyoung Kim",
"Hosu Lee",
"Jungwon Yoon",
"Hoyoung Kim",
"Hosu Lee",
"Jungwon Yoon"
] | Cable driven redundant manipulator (CDRM) can provide complex movements with high dexterity and singularity reduction. However, traditional CDRMs with universal joints have the disadvantages of requiring a high number of motors and having a narrow joint workspace. Furthermore, there is a limitation in terms of stiffness and payload. Recently, CDRMs composed of Quaternion joints have been developed... |
Spiking Reinforcement Learning with Memory Ability for Mapless Navigation | https://ieeexplore.ieee.org/document/10341738/ | [
"Bo Yang",
"Mengwen Yuan",
"Chengjun Zhang",
"Chaofei Hong",
"Gang Pan",
"Huajin Tang",
"Bo Yang",
"Mengwen Yuan",
"Chengjun Zhang",
"Chaofei Hong",
"Gang Pan",
"Huajin Tang"
] | Our study focuses on mapless navigation in robotics, which involves navigating without an established obstacle map of the environment. Spiking Neural Networks (SNNs) have recently been applied to this task using Deep Reinforcement Learning (DRL), but face challenges in dynamic and partially observable environments, as well as inaccuracies in transmitted data. To overcome these issues, we propose a... |
Lightweight Neural Path Planning | https://ieeexplore.ieee.org/document/10342133/ | [
"Jinsong Li",
"Shaochen Wang",
"Ziyang Chen",
"Zhen Kan",
"Jun Yu",
"Jinsong Li",
"Shaochen Wang",
"Ziyang Chen",
"Zhen Kan",
"Jun Yu"
] | Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their deployment on low-cost robots. Motivated by this practical challenge, we develop a lightweight neural path planning architecture with a dual input network and ... |
Modeling Action Spatiotemporal Relationships Using Graph-Based Class-Level Attention Network for Long-Term Action Detection | https://ieeexplore.ieee.org/document/10341409/ | [
"Yuankai Wu",
"Xin Su",
"Driton Salihu",
"Hao Xing",
"Marsil Zakour",
"Constantin Patsch",
"Yuankai Wu",
"Xin Su",
"Driton Salihu",
"Hao Xing",
"Marsil Zakour",
"Constantin Patsch"
] | In recent years, Action Detection has become an active research topic in various fields such as human-robot interaction and assistive robots. Most of the previous methods in this field focus on temporally processing the action representation, without considering the dependencies among the action classes. However, actions that occur in a video are constantly related, and this correlation could offe... |
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