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Spatio-Temporal Attention Network for Persistent Monitoring of Multiple Mobile Targets | https://ieeexplore.ieee.org/document/10341674/ | [
"Yizhuo Wang",
"Yutong Wang",
"Yuhong Cao",
"Guillaume Sartoretti",
"Yizhuo Wang",
"Yutong Wang",
"Yuhong Cao",
"Guillaume Sartoretti"
] | This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as accurate as possible, the robot needs to adaptively plan its path to (re-)visit all the targets and update its belief from measurements collected along the way. In doi... |
Subtask Aware End-to-End Learning for Visual Room Rearrangement | https://ieeexplore.ieee.org/document/10342320/ | [
"Youngho Kim",
"Jong-Hwan Kim",
"Youngho Kim",
"Jong-Hwan Kim"
] | The goal of intelligent embodied agents is to learn how to explore within the environment, interact with objects, and understand the environment in order to achieve task objectives. There are two main approaches to training such agents: one is to train an action policy that performs the task goal through end-to-end learning, and the other is to construct a policy by implementing the necessary abil... |
Less Than Human: How Different Users of Telepresence Robots Expect Different Social Norms | https://ieeexplore.ieee.org/document/10341962/ | [
"Cheng Lin",
"Jimin Rhim",
"A Jung Moon",
"Cheng Lin",
"Jimin Rhim",
"A Jung Moon"
] | Does the norm of first-come-first-serve (FCFS) equally apply to those piloting a Mobile Remote Presence (MRP) system as to those who are physically present with it? While telepresence robots could make social interactions more accessible and enjoyable for geographically-constrained individuals, such an outcome requires both pilots and local users of MRPs to share the same social norm expectations ... |
Do Hierarchies in a Robot Team Impact the Service Evaluation by Users? | https://ieeexplore.ieee.org/document/10341364/ | [
"Soomin Shin",
"Sonya S. Kwak",
"Soomin Shin",
"Sonya S. Kwak"
] | Customer satisfaction is not only determined by how workers treat customers but also by how they treat their coworkers. In this sense, we examined whether the dynamics of robot workers influence user satisfaction. To optimize the robot team's atmosphere for Korean culture, we adopted the Korean honorific language system to express hierarchy. We set four types of relationships between two robots: C... |
Robot-Induced Group Conversation Dynamics: A Model to Balance Participation and Unify Communities | https://ieeexplore.ieee.org/document/10342510/ | [
"Lucrezia Grassi",
"Carmine Tommaso Recchiuto",
"Antonio Sgorbissa",
"Lucrezia Grassi",
"Carmine Tommaso Recchiuto",
"Antonio Sgorbissa"
] | The purpose of this research is to study the impact of robot participation in group conversations and assess the effectiveness of different addressing policies. The study involved a total of 300 participants, who were divided into groups of four and engaged in a dialogue with a humanoid robot. The robot acted as a moderator, using information obtained during the conversation to determine which spe... |
Read the Room: Adapting a Robot's Voice to Ambient and Social Contexts | https://ieeexplore.ieee.org/document/10341925/ | [
"Paige Tuttosi",
"Emma Hughson",
"Akihiro Matsufuji",
"Chuxuan Zhang",
"Angelica Lim",
"Paige Tuttosi",
"Emma Hughson",
"Akihiro Matsufuji",
"Chuxuan Zhang",
"Angelica Lim"
] | How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these agents. We describe a process and results toward selecting robot voice styles for perceived social appropriateness and ambiance awareness. Understanding how humans ... |
Persuasive Polite Robots in Free-Standing Conversational Groups | https://ieeexplore.ieee.org/document/10341830/ | [
"Sahba Zojaji",
"Adrian Benigno Latupeirissa",
"Iolanda Leite",
"Roberto Bresin",
"Christopher Peters",
"Sahba Zojaji",
"Adrian Benigno Latupeirissa",
"Iolanda Leite",
"Roberto Bresin",
"Christopher Peters"
] | Politeness is at the core of the common set of behavioral norms that regulate human communication and is therefore of significant interest in the design of Human-Robot Interactions. In this paper, we investigate how the politeness behaviors of a humanoid robot impact human decisions about where to join a group of two robots. We also evaluate the resulting impact on the perception of the robot's po... |
Social Triangles and Aggressive Lines: Multi-Robot Formations Impact Navigation and Approach | https://ieeexplore.ieee.org/document/10342372/ | [
"Alexandra Bacula",
"Ethan Villalovoz",
"Deanna Flynn",
"Ankur Mehta",
"Heather Knight",
"Alexandra Bacula",
"Ethan Villalovoz",
"Deanna Flynn",
"Ankur Mehta",
"Heather Knight"
] | Spatial formations can give many social cues, such as illustrating a group of people are having a conversation (social affiliation), or that they are trying to move swiftly through a space (functional goal). This work explored how people perceive varied robots formations while navigating through a space and approaching people. Evaluation occurred across four different geometric formations: wedge, ... |
How to Make a Robot Grumpy Teaching Social Robots to Stay in Character with Mood Steering | https://ieeexplore.ieee.org/document/10341906/ | [
"Eric Nichols",
"Deborah Szapiro",
"Yurii Vasylkiv",
"Randy Gomez",
"Eric Nichols",
"Deborah Szapiro",
"Yurii Vasylkiv",
"Randy Gomez"
] | Conveying a robot's target mood is crucial to successful social interactions. The robot's expressive performance must be appropriate, persuasive, and consistent. However, this is challenging when interactions contain a mixture of scripted and improvised content, such as those generated by language models. In this paper, we take on the task of teaching robots to stay in character, that is to say, e... |
Enhancing Teleoperated Robot Customer Service through Speech Monitoring and Filtering | https://ieeexplore.ieee.org/document/10342098/ | [
"Koki Yamada",
"Jani Even",
"Takayuki Kanda",
"Koki Yamada",
"Jani Even",
"Takayuki Kanda"
] | In this paper, we propose a system that supports operators who provide services to customers using teleoperated robots. We observed that unprofessional or lazy operators of teleoperated robots are a risk for businesses as they are likely to speak in ways that are inappropriate for customer services. The proposed system lets competent operators talk freely to customers and thus provide high quality... |
T2FPV: Dataset and Method for Correcting First-Person View Errors in Pedestrian Trajectory Prediction | https://ieeexplore.ieee.org/document/10341874/ | [
"Benjamin Stoler",
"Meghdeep Jana",
"Soonmin Hwang",
"Jean Oh",
"Benjamin Stoler",
"Meghdeep Jana",
"Soonmin Hwang",
"Jean Oh"
] | Predicting pedestrian motion is essential for developing socially-aware robots that interact in a crowded environment. While the natural visual perspective for a social interaction setting is an egocentric view, the majority of existing work in trajectory prediction therein has been investigated purely in the top-down trajectory space. To support first-person view trajectory prediction research, w... |
Interactive Task Learning for Social Robots: A Pilot Study | https://ieeexplore.ieee.org/document/10341713/ | [
"Alexander Tyshka",
"Wing-Yue Geoffrey Louie",
"Alexander Tyshka",
"Wing-Yue Geoffrey Louie"
] | For socially assistive robots to achieve widespread adoption, the ability to learn new tasks in the wild is critical. Learning from Demonstration (LfD) approaches are a popular method for learning in the wild, but current methods require significant amounts of data and can be difficult to interpret. Interactive Task Learning (ITL) is an emerging learning paradigm that aims to teach tasks in a stru... |
Proactive Opinion-Driven Robot Navigation Around Human Movers | https://ieeexplore.ieee.org/document/10341745/ | [
"Charlotte Cathcart",
"María Santos",
"Shinkyu Park",
"Naomi Ehrich Leonard",
"Charlotte Cathcart",
"María Santos",
"Shinkyu Park",
"Naomi Ehrich Leonard"
] | We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's “opinion” for which way and by how much to pass human movers crossing its path. The robot forms an opinion over time according to nonlinear dynamics that depend on the robot's observations of human movers and its level of attention to these social cues. For these dynamics, it i... |
Emotionally Specific Backchanneling in Social Human-Robot Interaction and Human-Human Interaction | https://ieeexplore.ieee.org/document/10341823/ | [
"Pourya Shahverdi",
"Katelyn Rousso",
"Justin Klotz",
"Iman Bakhoda",
"Malek Zribi",
"Wing-Yue Geoffrey Louie",
"Pourya Shahverdi",
"Katelyn Rousso",
"Justin Klotz",
"Iman Bakhoda",
"Malek Zribi",
"Wing-Yue Geoffrey Louie"
] | Backchanneling models, designed to enhance the interactive capabilities of robots, have primarily been trained on human-human interaction data. However, applying such data directly to social robots raises concerns due to dissimilarities in the way humans and robots exhibit verbal and nonverbal behaviors, particularly in the domain of emotional backchannels. This research aims to address this gap b... |
Impact of Imperfect Exoskeleton Algorithms on Step Characteristics, Task Performance, and Perception of Exoskeleton Performance | https://ieeexplore.ieee.org/document/10341368/ | [
"Man I Wu",
"Leia Stirling",
"Man I Wu",
"Leia Stirling"
] | Lower-limb exoskeletons may experience errors in operational settings, where an expected assistive torque is missing. These errors may affect user's gait strategies and perception of the exoskeleton's performance, leading to impacted human-exoskeleton fluency and user trust in the system. In this study, we introduced five different exoskeleton control algorithms with fixed error rates up to 10% er... |
Can Quadruped Guide Robots be Used as Guide Dogs? | https://ieeexplore.ieee.org/document/10341792/ | [
"Luyao Wang",
"Qihe Chen",
"Yan Zhang",
"Ziang Li",
"Tingmin Yan",
"Fan Wang",
"Guyue Zhou",
"Jiangtao Gong",
"Luyao Wang",
"Qihe Chen",
"Yan Zhang",
"Ziang Li",
"Tingmin Yan",
"Fan Wang",
"Guyue Zhou",
"Jiangtao Gong"
] | Quadruped robots have the potential to guide blind and low vision (BLV) people due to their highly flexible locomotion and emotional value provided by their bionic forms. However, the development of quadruped guide robots rarely involves BLV users' participatory designs and evaluations. In this paper, we conducted two empirical experiments both in indoor controlled and outdoor field scenarios, exp... |
Investigating the Usability of Collaborative Robot Control Through Hands-Free Operation Using Eye Gaze and Augmented Reality | https://ieeexplore.ieee.org/document/10342045/ | [
"Joosun Lee",
"Taeyhang Lim",
"Wansoo Kim",
"Joosun Lee",
"Taeyhang Lim",
"Wansoo Kim"
] | This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control equipment has to be carried by hand. This lack of flexibility may prevent workers from multitasking or carrying objects while operating the robot. To address this l... |
Development and Evaluation of Exploratory Experiences to Facilitate Reasoning About Robotic Systems | https://ieeexplore.ieee.org/document/10342409/ | [
"Sogol Balali",
"Marisa Hudspeth",
"Ian Afflerbach",
"Hannah Helgesen",
"Jessica McCurry",
"Walid Abu Al-Afia",
"Kelton Bruslind",
"Kathryn Hays",
"Ross T. Sowell",
"Ruth West",
"Cindy M. Grimm",
"Sogol Balali",
"Marisa Hudspeth",
"Ian Afflerbach",
"Hannah Helgesen",
"Jessica McCurry",
"Walid Abu Al-Afia",
"Kelton Bruslind",
"Kathryn Hays",
"Ross T. Sowell",
"Ruth West",
"Cindy M. Grimm"
] | This paper introduces a novel interactive approach —Exploratory Experiences— that aims to improve the ability of people to reason about the capabilities and limitations of robotic technology. We focus on two areas: robot navigation and object detection. We evaluate the Exploratory Experiences with a novel approach that measures the participant's ability to predict when the robot will fail, followi... |
Decoding sEMG Under Non-Ideal Conditions Toward Robust Muscle-Machine Interface Control | https://ieeexplore.ieee.org/document/10341503/ | [
"C.D. Guerrero-Méndez",
"C.F. Blanco-Díaz",
"A. Lopez-Delis",
"T. Bastos-Filho",
"R.M. Andrade",
"C.D. Guerrero-Méndez",
"C.F. Blanco-Díaz",
"A. Lopez-Delis",
"T. Bastos-Filho",
"R.M. Andrade"
] | The evaluation of systems under non-ideal conditions is a research problem, particularly in robotic applications for the rehabilitation of people with disabilities. Accordingly, the evaluation of algorithmic strategies for robustness validation under different non-ideal conditions is a current challenge for the scientific community. Therefore, in this study, a computational methodology based on Ex... |
From “Thumbs Up” to “10 out of 10”: Reconsidering Scalar Feedback in Interactive Reinforcement Learning | https://ieeexplore.ieee.org/document/10342458/ | [
"Hang Yu",
"Reuben M. Aronson",
"Katherine H. Allen",
"Elaine Schaertl Short",
"Hang Yu",
"Reuben M. Aronson",
"Katherine H. Allen",
"Elaine Schaertl Short"
] | Learning from human feedback is an effective way to improve robotic learning in exploration-heavy tasks. Compared to the wide application of binary human feedback, scalar human feedback has been used less because it is believed to be noisy and unstable. In this paper, we compare scalar and binary feedback, and demonstrate that scalar feedback benefits learning when properly handled. We collected b... |
Towards Continuous Identification of Passive Human Joint Impedance Using Physical Human-Robot Interaction System | https://ieeexplore.ieee.org/document/10341372/ | [
"Bilal Tout",
"Jason Chevrie",
"Antoine Dequidt",
"Laurent Vermeiren",
"Bilal Tout",
"Jason Chevrie",
"Antoine Dequidt",
"Laurent Vermeiren"
] | The identification of human joint impedance is necessary for various applications, such as improving rehabilitation efficiency or monitoring the human operator's state (fatigue, stress). To this end, in this paper we combine robot's payload identification methods with sliding window recursive least squares algorithm allowing a continuous identification of the varying human joint model without the ... |
The MyoPassivity Puzzle: How Does Muscle Fatigue Affect Energetic Behavior of the Human Upper-Limb During Physical Interaction with Robots? | https://ieeexplore.ieee.org/document/10341902/ | [
"Suzanne Oliver",
"Peter Paik",
"Xingyuan Zhou",
"S. Farokh Atashzar",
"Suzanne Oliver",
"Peter Paik",
"Xingyuan Zhou",
"S. Farokh Atashzar"
] | The human limb possesses a remarkable capacity to absorb energy during physical human-robot interaction (pHRI), which can be quantified as the biomechanical “Excess of Passivity” (EoP) using non-linear control theory. This biome-chanical passivity index can be used to reduce conservatism and increase the transparency of pHRI stabilizers. Previous work on EoP has used system identification techniqu... |
Harnessing the Power of Human Biomechanics in Force-Position Domain: A 3D Passivity Index Map for Upper Limb Physical Human-(Tele) Robot Interaction | https://ieeexplore.ieee.org/document/10341393/ | [
"Xingyuan Zhou",
"Peter Paik",
"S. Farokh Atashzar",
"Xingyuan Zhou",
"Peter Paik",
"S. Farokh Atashzar"
] | In the context of physical human-(tele)robot interaction, passivity-based stabilizers have been used to guarantee the physical or (tele) physical stability. In most of these examples, human biomechanics is considered an inherently passive system that dissipates energy. This assumption may not hold true when the interaction is implemented in the force-position domain, even though such a setting wou... |
No Contact Needed: Humans Adapt Their Gait to Suit Legged Robot Companions | https://ieeexplore.ieee.org/document/10341255/ | [
"Paul M. Riek",
"Amy R. Wu",
"Paul M. Riek",
"Amy R. Wu"
] | Legged robots companions may one day assist humans with everyday tasks, but their possible impact on human gait is unknown. While previous studies have shown that humans adjust their gait when walking with other humans, it is uncertain whether walking with legged robots would yield similar results. In this study, we measured the gait of healthy participants (N = 14) while they walked alone and wit... |
Implications of Personality on Cognitive Workload, Affect, and Task Performance in Remote Robot Control | https://ieeexplore.ieee.org/document/10341633/ | [
"Go-Eum Cha",
"Wonse Jo",
"Byung-Cheol Min",
"Go-Eum Cha",
"Wonse Jo",
"Byung-Cheol Min"
] | This paper explores how the personality traits of robot operators can influence their task performance during remote control of robots. It is essential to explore the impact of personal dispositions on information processing, both directly and indirectly, when working with robots on specific tasks. To investigate this relationship, we utilize the open-access multi-modal dataset MOCAS to examine th... |
Optimizing Algorithms from Pairwise User Preferences | https://ieeexplore.ieee.org/document/10342081/ | [
"Leonid Keselman",
"Katherine Shih",
"Martial Hebert",
"Aaron Steinfeld",
"Leonid Keselman",
"Katherine Shih",
"Martial Hebert",
"Aaron Steinfeld"
] | Typical black-box optimization approaches in robotics focus on learning from metric scores. However, that is not always possible, as not all developers have ground truth available. Learning appropriate robot behavior in human-centric contexts often requires querying users, who typically cannot provide precise metric scores. Existing approaches leverage human feedback in an attempt to model an impl... |
A Sensitivity Analysis of an Economic Value Metric for Quantifying the Success of Lower-Limb Exoskeletons and Their Assistance | https://ieeexplore.ieee.org/document/10342452/ | [
"Nundini D. Rawal",
"Roberto L. Medrano",
"Gray C. Thomas",
"Elliott J. Rouse",
"Nundini D. Rawal",
"Roberto L. Medrano",
"Gray C. Thomas",
"Elliott J. Rouse"
] | Modern exoskeletons are typically developed to optimize for a single, physiological objective, the “gold standard” of which is a reduction of the wearer's metabolic rate. However, recent research suggests that these changes in metabolic rate are not yet perceivable on average. To address this gap, this study explores a novel economic value metric to quantify the value of exoskeleton assistance. Th... |
Multi-Arm Robot Task Planning for Fruit Harvesting Using Multi-Agent Reinforcement Learning | https://ieeexplore.ieee.org/document/10341822/ | [
"Tao Li",
"Feng Xie",
"Quan Qiu",
"Qingchun Feng",
"Tao Li",
"Feng Xie",
"Quan Qiu",
"Qingchun Feng"
] | The emergence of harvesting robotics offers a promising solution to the issue of limited agricultural labor resources and the increasing demand for fruits. Despite notable advancements in the field of harvesting robotics, the utilization of such technology in orchards is still limited. The key challenge for harvesting robots is to improve the operational efficiency. Taking into account inner-arm c... |
Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations | https://ieeexplore.ieee.org/document/10341507/ | [
"Ryan Dorosh",
"Justin Allen",
"Zixuan He",
"Christopher Ninatanta",
"Jack Coleman",
"Jack Spieker",
"Ethan Tuck",
"Jordan Kurtz",
"Qin Zhang",
"Matthew D. Whiting",
"Jiecai Luo",
"Manoj Karkee",
"Ming Luo",
"Ryan Dorosh",
"Justin Allen",
"Zixuan He",
"Christopher Ninatanta",
"Jack Coleman",
"Jack Spieker",
"Ethan Tuck",
"Jordan Kurtz",
"Qin Zhang",
"Matthew D. Whiting",
"Jiecai Luo",
"Manoj Karkee",
"Ming Luo"
] | Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been prohibitively costly, slow, or require a reconfiguration of the orchard in order to function. In this paper, we introduce an alternative approach to robotics us... |
Lightweight Real-Time Detection Model for Multi-Sheep Abnormal Behaviour Based on Yolov7-Tiny | https://ieeexplore.ieee.org/document/10342186/ | [
"Haotian Zhang",
"Yuan Ma",
"Xiaobo Wang",
"Rui Mao",
"Meili Wang",
"Haotian Zhang",
"Yuan Ma",
"Xiaobo Wang",
"Rui Mao",
"Meili Wang"
] | Animal behaviour can reflect the health and physiological stage of the animal. Animal behaviour recognition is a vital part of automated farming systems. Although image-based deep learning algorithms can accurately identify animal behaviour, the lack of data on animal abnormal behaviour makes the practical deployment of models of limited significance. At the same time, the ageing of farm monitorin... |
NBV-SC: Next Best View Planning Based on Shape Completion for Fruit Mapping and Reconstruction | https://ieeexplore.ieee.org/document/10341855/ | [
"Rohit Menon",
"Tobias Zaenker",
"Nils Dengler",
"Maren Bennewitz",
"Rohit Menon",
"Tobias Zaenker",
"Nils Dengler",
"Maren Bennewitz"
] | Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally expensive ray casting operations to find good viewpoints aiming at maximizing information gain and covering the fruits in the scene. In this paper, we present a no... |
Knowledge Distillation for Efficient Panoptic Semantic Segmentation: Applied to Agriculture | https://ieeexplore.ieee.org/document/10342527/ | [
"Maohui Li",
"Michael Hasltead",
"Chris McCool",
"Maohui Li",
"Michael Hasltead",
"Chris McCool"
] | Panoptic segmentation provides both holistic and detailed image parsing information at both the pixel and the instance level. However, the computational burdens restrict its applications in real-time scenarios. A potential approach to learn more efficient models is to employ knowledge distillation. However, previous knowledge distillation schemes have focused mainly on classification with limited ... |
Estimating 4D Data Associations Towards Spatial-Temporal Mapping of Growing Plants for Agricultural Robots | https://ieeexplore.ieee.org/document/10342449/ | [
"Luca Lobefaro",
"Meher V. R. Malladi",
"Olga Vysotska",
"Tiziano Guadagnino",
"Cyrill Stachniss",
"Luca Lobefaro",
"Meher V. R. Malladi",
"Olga Vysotska",
"Tiziano Guadagnino",
"Cyrill Stachniss"
] | Our world is non-static, and robots should be able to track its changing geometry. For tracking changes, data asso-ciations between 3D points over time are key. In this paper, we investigate the problem of associating 3D points on plant organs from different mapping runs over time while the plants grow. We achieve a high spatial-temporal matching performance by combining 3D RGB-D SLAM, visual plac... |
Graph-Based View Motion Planning for Fruit Detection | https://ieeexplore.ieee.org/document/10342532/ | [
"Tobias Zaenker",
"Julius Rückin",
"Rohit Menon",
"Marija Popović",
"Maren Bennewitz",
"Tobias Zaenker",
"Julius Rückin",
"Rohit Menon",
"Marija Popović",
"Maren Bennewitz"
] | Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the fruits. Traditional next-best view planning can lead to unstructured and inefficient coverage of the crops. To address this, we propose a novel view motion plann... |
Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots | https://ieeexplore.ieee.org/document/10342067/ | [
"Yue Pan",
"Federico Magistri",
"Thomas Läbe",
"Elias Marks",
"Claus Smitt",
"Chris McCool",
"Jens Behley",
"Cyrill Stachniss",
"Yue Pan",
"Federico Magistri",
"Thomas Läbe",
"Elias Marks",
"Claus Smitt",
"Chris McCool",
"Jens Behley",
"Cyrill Stachniss"
] | Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise yield estimation. Obtaining such 3D information is non-trivial as agricultural environments are often repetitive and cluttered, and one has to account for the p... |
Vision-Based Vineyard Navigation Solution with Automatic Annotation | https://ieeexplore.ieee.org/document/10341261/ | [
"Ertai Liu",
"Josephine Monica",
"Kaitlin Gold",
"Lance Cadle-Davidson",
"David Combs",
"Yu Jiang",
"Ertai Liu",
"Josephine Monica",
"Kaitlin Gold",
"Lance Cadle-Davidson",
"David Combs",
"Yu Jiang"
] | Autonomous navigation is crucial for achieving the full automation of agricultural research and production management using agricultural robots. In this paper, we present a vision-based autonomous navigation approach for agriculture robots in trellised cropping systems, which stands out for its remarkable performance achieved entirely without human annotation. We propose a novel learning-based met... |
Detecting Olives with Synthetic or Real Data? Olive the Above | https://ieeexplore.ieee.org/document/10341765/ | [
"Yianni Karabatis",
"Xiaomin Lin",
"Nitin J. Sanket",
"Michail G. Lagoudakis",
"Yiannis Aloimonos",
"Yianni Karabatis",
"Xiaomin Lin",
"Nitin J. Sanket",
"Michail G. Lagoudakis",
"Yiannis Aloimonos"
] | Modern robotics has enabled the advancement in yield estimation for precision agriculture. However, when applied to the olive industry, the high variation of olive colors and their similarity to the background leaf canopy presents a challenge. Labeling several thousands of very dense olive grove images for segmentation is a labor-intensive task. This paper presents a novel approach to detecting ol... |
Grasp State Classification in Agricultural Manipulation | https://ieeexplore.ieee.org/document/10341881/ | [
"Benjamin Walt",
"Girish Krishnan",
"Benjamin Walt",
"Girish Krishnan"
] | The agricultural setting poses additional challenges for robotic manipulation, as fruit is firmly attached to plants and the environment is cluttered and occluded. Therefore, accurate feedback about the grasp state is essential for effective harvesting. This study examines the different states involved in fruit picking by a robot, such as successful grasp, slip, and failed grasp, and develops a le... |
Skirting Line Estimation Using Sparse to Dense Deformation | https://ieeexplore.ieee.org/document/10342451/ | [
"Daniel Perez Banuelos",
"Raphael Falque",
"Timothy Patten",
"Alen Alempijevic",
"Daniel Perez Banuelos",
"Raphael Falque",
"Timothy Patten",
"Alen Alempijevic"
] | Automating the process of fleece contaminant removal has the potential to drastically improve the quality of wool leaving the farm gate. Towards this goal, we present a method to automatically extract skirting lines, i.e., the separations between clean and contaminated wool of a fleece using RGB images. We propose a learning-based sparse-to-dense approach for estimating the non-rigid deformation o... |
Bird-View 3D Reconstruction for Crops with Repeated Textures | https://ieeexplore.ieee.org/document/10341478/ | [
"Guoyu Lu",
"Guoyu Lu"
] | Large-scale in-situ 3D reconstruction of crop fields presents a challenging task, as the 3D crop structures play a crucial role in plant phenotyping and significantly influence crop growth and yield. While existing efforts focus on close-range plants, only a limited number of deep learning-based methods have been developed explicitly for large-scale 3D crop reconstruction, mainly due to the scarci... |
Generalized Robot Dynamics Learning and Gen2Real Transfer | https://ieeexplore.ieee.org/document/10342406/ | [
"Dengpeng Xing",
"Yiming Yang",
"Zechang Wang",
"Jiale Li",
"Bo Xu",
"Dengpeng Xing",
"Yiming Yang",
"Zechang Wang",
"Jiale Li",
"Bo Xu"
] | Acquiring dynamics is critical for robot learning and is fundamental to planning and control. This paper concerns two fundamental questions: How can we learn a model that covers massive, diverse robot dynamics? Can we construct a model that lifts the data-collection pain and domain expertise required for building specific robot models? We learn the dynamics involved in a dataset containing a large... |
Dynamic Modeling and Analysis of Impact-Resilient MAVs Undergoing High-Speed and Large-Angle Collisions with the Environment | https://ieeexplore.ieee.org/document/10341848/ | [
"Zhichao Liu",
"Konstantinos Karydis",
"Zhichao Liu",
"Konstantinos Karydis"
] | Micro Aerial Vehicles (MAVs) often face a high risk of collision during autonomous flight, particularly in cluttered and unstructured environments. To mitigate the collision impact on sensitive onboard devices, resilient MAVs with mechanical protective cages and reinforced frames are commonly used. However, compliant and impact-resilient MAVs offer a promising alternative by reducing the potential... |
Legged Locomotion Control of an Under-Actuated Eccentric Paddle Mechanism with Torso Stabilization | https://ieeexplore.ieee.org/document/10342488/ | [
"Yanqiu Zheng",
"Longchuan Li",
"Shugen Ma",
"Yanqiu Zheng",
"Longchuan Li",
"Shugen Ma"
] | Rescue robots require versatility and the capability to operate in various environments to carry out a diverse set of tasks effectively. The eccentric paddle (ePaddle) mechanism stands out for its high efficiency and adaptability. Generally, it is designed as a quadruped robot with a combined structure for fully-actuated control, this approach is often both inefficient and inflexible due to the re... |
Improving Deep Dynamics Models for Autonomous Vehicles with Multimodal Latent Mapping of Surfaces | https://ieeexplore.ieee.org/document/10341771/ | [
"Johan Vertens",
"Nicolai Dorka",
"Tim Welschehold",
"Michael Thompson",
"Wolfram Burgard",
"Johan Vertens",
"Nicolai Dorka",
"Tim Welschehold",
"Michael Thompson",
"Wolfram Burgard"
] | The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To address this issue we propose a new approach that learns a surface-aware dynamics model by conditioning it on a latent variable vector storing surface information a... |
Data-Based MHE for Agile Quadrotor Flight | https://ieeexplore.ieee.org/document/10342084/ | [
"Wonoo Choo",
"Erkan Kayacan",
"Wonoo Choo",
"Erkan Kayacan"
] | This paper develops a data-based moving horizon estimation (MHE) method for agile quadrotors. Accurate state estimation of the system is paramount for precise trajectory control for agile quadrotors; however, the high level of aerodynamic forces experienced by the quadrotors during high-speed flights make this task extremely challenging. These complex turbulent effects are difficult to model and t... |
A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion | https://ieeexplore.ieee.org/document/10341418/ | [
"Ali U. Kilic",
"David J. Braun",
"Ali U. Kilic",
"David J. Braun"
] | The Spring-Loaded Inverted Pendulum (SLIP) is one of the simplest models of robot locomotion. SLIP is commonly used to predict the center of mass motion and derive simple control laws for stable locomotion. However, the SLIP model is not integrable, which means that no closed-form relation can be derived to understand how the design and control parameters of the SLIP model affect stable locomotion... |
A Fast Steerable Soft Robot for Navigating a Pipe Network | https://ieeexplore.ieee.org/document/10341708/ | [
"Ian Stewart",
"Phanindra Tallapragada",
"Ian Stewart",
"Phanindra Tallapragada"
] | Soft vibrational bristlebots are robots with deformable bristles on their outside that propel the robot through the stick slip motion of the bristle tips interacting with the ground when a vibration is induced in the robot. Experimental results and theoretical analysis of the dynamics for this style of robot have been investigated on flat surfaces. However, for the soft vibrational bristlebots tra... |
An Orthogonal Collocation Method for Static and Dynamic Cosserat Rods | https://ieeexplore.ieee.org/document/10341631/ | [
"Radhouane Jilani",
"Pierre-Frédéric Villard",
"Erwan Kerrien",
"Radhouane Jilani",
"Pierre-Frédéric Villard",
"Erwan Kerrien"
] | We propose an orthogonal collocation method (CM) for solving Cosserat rod Dirichlet-Neumann boundary value problems in static and dynamic modes. We interpolate the internal loading and collocate the strong form of the differential equations. The method uses Chebyshev polynomials in order to minimize Runge's phenomenon. The time derivatives are implicitly discretized using the backward differentiat... |
Design, Characterization and Control of a Whole-body Grasping and Perching (WHOPPEr) Drone | https://ieeexplore.ieee.org/document/10341722/ | [
"Weijia Tao",
"Karishma Patnaik",
"Fuchen Chen",
"Yogesh Kumar",
"Wenlong Zhang",
"Weijia Tao",
"Karishma Patnaik",
"Fuchen Chen",
"Yogesh Kumar",
"Wenlong Zhang"
] | Flying robots can exploit perching abilities to position themselves on strategically-chosen locations and monitor the areas of interest from a critical vantage point. Moreover, they can significantly extend their battery life by turning off the propulsion systems when carrying out a surveillance mission. However, unknown disturbances arise from the physical interactions between the robot and the o... |
A Rotor Flywheel Robot: Land-air Amphibious Design and Control | https://ieeexplore.ieee.org/document/10341371/ | [
"Chunzheng Wang",
"Yunyi Zhang",
"Chuanzhao Li",
"Wei Wang",
"Yangmin Li",
"Chunzheng Wang",
"Yunyi Zhang",
"Chuanzhao Li",
"Wei Wang",
"Yangmin Li"
] | Most land-air amphibious UAVs feature a four-wheel design that limits their adaptability in narrow and uneven spaces. This study proposes the rotor flywheel as a new land-air design that integrates a one-wheel structure and eight-rotor wings for more flexible motion. The dynamics model is then conducted with the Kane method, finding two power-saving self-balance state while rolling. Its controller... |
System Identification and Control of Front-Steered Ackermann Vehicles Through Differentiable Physics | https://ieeexplore.ieee.org/document/10342391/ | [
"Burak M. Gonultas",
"Pratik Mukherjee",
"O. Goktug Poyrazoglu",
"Volkan Isler",
"Burak M. Gonultas",
"Pratik Mukherjee",
"O. Goktug Poyrazoglu",
"Volkan Isler"
] | In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises naturally for on-road and off-road vehicles that require reliable system identification and basic feedback controllers for various applications such as lane keeping and way-point navigation. Traditional system identification r... |
Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks | https://ieeexplore.ieee.org/document/10342250/ | [
"Hemjyoti Das",
"Bjørn Kåre Sæbø",
"Kristin Y. Pettersen",
"Christian Ott",
"Hemjyoti Das",
"Bjørn Kåre Sæbø",
"Kristin Y. Pettersen",
"Christian Ott"
] | Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the perf... |
Modeling and Workspace Characterization of Continuously Compliant Robotic Legs | https://ieeexplore.ieee.org/document/10342327/ | [
"Robin Bendfeld",
"C. David Remy",
"Robin Bendfeld",
"C. David Remy"
] | This work introduces a new design paradigm for robotic legs. Our concept extends upon classical series elastic actuation and directly integrates the series compliance into the structure of the leg. This integration reduces the mechanical design complexity and can potentially reduce the overall weight of the leg. In this paper, we introduce a prototype leg with a continuously compliant shank and de... |
Efficiency Estimation and Optimization of Multistage Compound Planetary Gearboxes and Application to the Design of the Active Skin Propulsion of EELS | https://ieeexplore.ieee.org/document/10341515/ | [
"Nikola Georgiev",
"Nikola Georgiev"
] | This paper outlines a novel versatile geometric method for the estimation of the efficiency of multistage compound planetary gearboxes. The approach is based on a virtual pitch point modeling that allows for accurate representation of the gear interaction with forces applied at the pitch point. When this modeling is applied to all gears in a multistage compound planetary gearbox, the gearbox effic... |
Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning | https://ieeexplore.ieee.org/document/10341600/ | [
"Jianzhuang Zhao",
"Gustavo J. G. Lahr",
"Francesco Tassi",
"Alessandro Santopaolo",
"Elena De Momi",
"Arash Ajoudani",
"Jianzhuang Zhao",
"Gustavo J. G. Lahr",
"Francesco Tassi",
"Alessandro Santopaolo",
"Elena De Momi",
"Arash Ajoudani"
] | This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up to the contact point between the robot and the object to minimize their relative velocity and reduce the impact forces. Next, the generated trajectories are upd... |
Online Estimation of 2D Human Arm Stiffness for Peg-in-Hole Tasks with Variable Impedance Control | https://ieeexplore.ieee.org/document/10341960/ | [
"Huayang Wu",
"Hanwen Yang",
"Yanan Li",
"Huayang Wu",
"Hanwen Yang",
"Yanan Li"
] | This paper proposes an online estimation model for 2D arm stiffness in humans. The proposed model is based on recent physiological findings which suggest that: (1) joint stiffness is linearly related to the magnitude of joint torque and increases to compensate for environmental disturbances; and (2) the endpoint stiffness of the arm is proportional to grasp force. To validate the proposed model, p... |
Workspace Force/Acceleration Disturbance Observer for Precise and Safe Motion Control | https://ieeexplore.ieee.org/document/10341933/ | [
"Wooseok Han",
"Wonbum Yun",
"Sehoon Oh",
"Wooseok Han",
"Wonbum Yun",
"Sehoon Oh"
] | The use of impedance control has become widespread in applications requiring simultaneous position tracking and compliance in contact. However, disturbances such as friction and model uncertainties can adversely affect the performance of impedance-based motion control. The disturbance observer (DOB) has been proposed to address this issue, which is a widely-utilized robust controller that eliminat... |
Orientation Control with Variable Stiffness Dynamical Systems | https://ieeexplore.ieee.org/document/10342531/ | [
"Youssef Michel",
"Matteo Saveriano",
"Fares J. Abu-Dakka",
"Dongheui Lee",
"Youssef Michel",
"Matteo Saveriano",
"Fares J. Abu-Dakka",
"Dongheui Lee"
] | Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part which can be crucial to many tasks e.g. screwing. In this work, we propose a control algorithm that ... |
UMIRobot: An Open-{Software, Hardware} Low-Cost Robotic Manipulator for Education | https://ieeexplore.ieee.org/document/10341347/ | [
"Murilo M. Marinho",
"Hung-Ching Lin",
"Jiawei Zhao",
"Murilo M. Marinho",
"Hung-Ching Lin",
"Jiawei Zhao"
] | Robot teleoperation has been studied for the past 70 years and is relevant in many contexts, such as in the handling of hazardous materials and telesurgery. The COVID19 pandemic has rekindled interest in this topic, but the existing robotic education kits fall short of being suitable for teleoperated robotic manipulator learning. In addition, the global restrictions of motion motivated large inves... |
I2mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction | https://ieeexplore.ieee.org/document/10342370/ | [
"Florian Voigt",
"Abdeldjallil Naceri",
"Sami Haddadin",
"Florian Voigt",
"Abdeldjallil Naceri",
"Sami Haddadin"
] | Sophisticated manipulation requires both compliance and accuracy. While tactile robots excel at being compliant, their accuracy is often inadequate for complex manipulation. Contact-rich assembly tasks, such as the insertion and manipulation of objects with small tolerances pose an enormous challenge. Complex, highly integrated assemblies, especially in high-tech areas such as robotics, sensors, o... |
Real is Better than Perfect: Sim-to-Real Robotic System in Secondary School Education | https://ieeexplore.ieee.org/document/10341903/ | [
"Jiasi Gao",
"Haole Guo",
"Zhanxiang Cao",
"Pengfei Huang",
"Guyue Zhou",
"Jiasi Gao",
"Haole Guo",
"Zhanxiang Cao",
"Pengfei Huang",
"Guyue Zhou"
] | Simulation systems of robots can facilitate the prediction, development, and debugging of robotic systems. However, they seldom applied in robotics education for primary and secondary school students. In this paper, we present a sim-to-real robotic system that enables students to optimize their algorithms in a simulated environment and validate them in a remote physical laboratory with data logs a... |
A Soft, Multi-Layer, Kirigami Inspired Robotic Gripper with a Compact, Compression-Based Actuation System | https://ieeexplore.ieee.org/document/10341893/ | [
"Joao Buzzatto",
"Junbang Liang",
"Mojtaba Shahmohammadi",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce A. MacDonald",
"Minas Liarokapis",
"Joao Buzzatto",
"Junbang Liang",
"Mojtaba Shahmohammadi",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce A. MacDonald",
"Minas Liarokapis"
] | Over the last decade, a plethora of soft robotic devices have been proposed for the execution of complex grasping and dexterous manipulation tasks. Tasks requiring such increased dexterity are typically executed using fully-actuated, rigid end-effectors equipped with sophisticated sensing and controlled with complex control laws. The new class of soft robotic devices offers an alternative to the t... |
Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling | https://ieeexplore.ieee.org/document/10342266/ | [
"Shoujie Li",
"Mingshan He",
"Wenbo Ding",
"Linqi Ye",
"Xueqian Wang",
"Junbo Tan",
"Jinqiu Yuan",
"Xiao-Ping Zhang",
"Shoujie Li",
"Mingshan He",
"Wenbo Ding",
"Linqi Ye",
"Xueqian Wang",
"Junbo Tan",
"Jinqiu Yuan",
"Xiao-Ping Zhang"
] | Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuotactile sensor and the pneumatic actuator-based gripper. Here, a concave visuotactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force... |
Mathematical Modelling and Experimental Validation of an Articulated Vacuum Gripper | https://ieeexplore.ieee.org/document/10342100/ | [
"Matteo Maggi",
"Giulio Reina",
"Giacomo Mantriota",
"Matteo Maggi",
"Giulio Reina",
"Giacomo Mantriota"
] | This paper presents the underactuated vacuum gripper named Polypus. What is unique in Polypus is that it combines under-actuation and vacuum grasping to apply both power and unilateral grasp to objects of various shape and geometry. In addition, the gripper features modularity, i.e., single phalanges can be added or removed based on the application. The high flexibility also comes with a cost-effe... |
Lip-Inspired Passive Jamming Gripper with Teeth Structure | https://ieeexplore.ieee.org/document/10342175/ | [
"Jooyoung Hong",
"Kazuki Shin",
"Dhruv C Mathur",
"Sankalp Yamsani",
"Joohee Yim",
"Joohyung Kim",
"Jooyoung Hong",
"Kazuki Shin",
"Dhruv C Mathur",
"Sankalp Yamsani",
"Joohee Yim",
"Joohyung Kim"
] | In this paper, we propose a lip-inspired passive jamming gripper by mimicking teeth structures from a dog's oral structure. Animal lips are hydrostatic structures. To mimic the features, which are usually soft but rigid when contacted, we used the passive particle jamming effect. To increase the adaptability of our previous gripper to grasp various shaped objects, we focused on the dogs' oral stru... |
Two-Fingered Hand with Gear-Type Synchronization Mechanism with Magnet for Improved Small and Offset Objects Grasping: F2 Hand | https://ieeexplore.ieee.org/document/10342060/ | [
"Naoki Fukaya",
"Avinash Ummadisingu",
"Kuniyuki Takahashi",
"Guilherme Maeda",
"Shin-Ichi Maeda",
"Naoki Fukaya",
"Avinash Ummadisingu",
"Kuniyuki Takahashi",
"Guilherme Maeda",
"Shin-Ichi Maeda"
] | A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate for these inaccuracies. However, these mechanisms come at the cost of controllability and coordination. For instance, adaptive functions that let the fingers of a tw... |
An Inflatable Eversible Finger Pad for Variable-Stiffness Grasping with Parallel-Jaw Grippers | https://ieeexplore.ieee.org/document/10341676/ | [
"Raphael Deimel",
"Andreas Kugi",
"Raphael Deimel",
"Andreas Kugi"
] | We present an inflatable finger pad that allows regular parallel-jaw grippers to vary their grasp stiffness while maintaining a contact force and contact to non-planar surfaces. An eversible radial bellows structure made of silicone rubber allows the pad to extend to four times its original height and to retract into a rigid pod when not needed. The bellows act as passive universal joints when eve... |
D-PALI: A Low-Cost Open Source Robotic Gripper Platform for Planar In-Hand-Manipulation | https://ieeexplore.ieee.org/document/10341860/ | [
"Arunansu Patra",
"Adam J. Spiers",
"Arunansu Patra",
"Adam J. Spiers"
] | Robot grippers are widely used in industrial automation for pick-and-place tasks on a variety of objects. Whilst the majority of commercial grippers are capable of establishing stable grasps, few can perform in-hand-manipulation (IHM). IHM is has the potential to increase robotic motion efficiency, yet most IHM-capable manipulation platforms are anthropomorphic in nature and cost over $10,000, pos... |
Adaptive and Fail-Safe Magnetic Gripper with Charging Function for Drones on Power Lines | https://ieeexplore.ieee.org/document/10341434/ | [
"Viet Duong Hoang",
"Aljaz Kramberger",
"Emad Ebeid",
"Viet Duong Hoang",
"Aljaz Kramberger",
"Emad Ebeid"
] | Drone grasping on power lines for recharging is challenging since it requires the gripper to be lightweight, carried by a drone, and efficient for a firm grasp. A deep understanding of the power line nature and its magnetic characteristic helps ease such challenges and bring new knowledge to gripper design. In this work, a novel adaptive, lightweight, and fail-safe magnetic gripper with a rechargi... |
InstaGrasp: An Entirely 3D Printed Adaptive Gripper with TPU Soft Elements and Minimal Assembly Time | https://ieeexplore.ieee.org/document/10341385/ | [
"Xin Zhou",
"Adam J. Spiers",
"Xin Zhou",
"Adam J. Spiers"
] | Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant barrier to entry for some robotics researchers and drives others to opt for expensive commercial alternatives. To provide both parties with an easier and cheaper (und... |
A Bio-Inspired Robotic Finger: Mechanics and Control | https://ieeexplore.ieee.org/document/10342443/ | [
"Worathris Chungsangsatiporn",
"Ratchatin Chancharoen",
"Worathris Chungsangsatiporn",
"Ratchatin Chancharoen"
] | A robotic finger is successfully designed, fabricated, analyzed, and examined. The finger consists of bones, joint ligaments, and an extensor hood. Driven by two tendons, it is two degrees on the freedom finger. Although the behavior of this design is not uniform, it provides useful dexterity, sensitivity, and versatility. The artificial bone is lightweight and compact. The actuation is backdrivab... |
Autonomous Robotic Drilling System for Mice Cranial Window Creation: An Evaluation with an Egg Model | https://ieeexplore.ieee.org/document/10341693/ | [
"Enduo Zhao",
"Murilo M. Marinho",
"Kanako Harada",
"Enduo Zhao",
"Murilo M. Marinho",
"Kanako Harada"
] | Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and deformation, and therefore require autonomous robotic control. As an example, we are studying the installation of a cranial window in a mo... |
Towards an Accurate Augmented-Reality-Assisted Orthopedic Surgical Robotic System Using Bidirectional Generalized Point Set Registration | https://ieeexplore.ieee.org/document/10341401/ | [
"Ang Zhang",
"Zhe Min",
"Yingying Wang",
"Max Q.-H. Meng",
"Ang Zhang",
"Zhe Min",
"Yingying Wang",
"Max Q.-H. Meng"
] | This paper presents a novel augmented reality (AR)-assisted orthopedic surgical robotic system based on Head-Mounted Display (HMD) devices. The proposed system can overlay the preoperative plans over the patient's anatomy and provide useful guidance for surgeons during interventions, with integrated calibration and registration components. A novel bi-directional generalised point set registration ... |
Generalizing Surgical Instruments Segmentation to Unseen Domains with One-to-Many Synthesis | https://ieeexplore.ieee.org/document/10341609/ | [
"An Wang",
"Mobarakol Islam",
"Mengya Xu",
"Hongliang Ren",
"An Wang",
"Mobarakol Islam",
"Mengya Xu",
"Hongliang Ren"
] | Despite their impressive performance in various surgical scene understanding tasks, deep learning-based methods are frequently hindered from deploying to real-world surgical applications for various causes. Particularly, data collection, annotation, and domain shift in-between sites and patients are the most common obstacles. In this work, we mitigate data-related issues by efficiently leveraging ... |
Reducing Workload During Brain Surgery with Robot-Assisted Autonomous Exoscope | https://ieeexplore.ieee.org/document/10341799/ | [
"Elisa Iovene",
"Alessandro Casella",
"Junling Fu",
"Federico Pessina",
"Marco Riva",
"Giancarlo Ferrigno",
"Elena De Momi",
"Elisa Iovene",
"Alessandro Casella",
"Junling Fu",
"Federico Pessina",
"Marco Riva",
"Giancarlo Ferrigno",
"Elena De Momi"
] | In this paper, a position-based visual-servoing control approach is introduced for a robotic camera holder to improve ergonomics and reduce mental stress during brain surgery. The visual tracking system controls and moves the robotic camera holder by following a selected surgical instrument without the need for artificial markers. The system was validated using a 7 Degree-of-Freedoms (DoFs) redund... |
Augmented Reality Navigation in Robot-Assisted Surgery with a Teleoperated Robotic Endoscope | https://ieeexplore.ieee.org/document/10342282/ | [
"Veronica Penza",
"Alberto Neri",
"Maria Koskinopoulou",
"Enrico Turco",
"Domenico Soriero",
"Stefano Scabini",
"Domenico Prattichizzo",
"Leonardo S. Mattos",
"Veronica Penza",
"Alberto Neri",
"Maria Koskinopoulou",
"Enrico Turco",
"Domenico Soriero",
"Stefano Scabini",
"Domenico Prattichizzo",
"Leonardo S. Mattos"
] | Augmented reality (AR) is considered one of the most promising solutions for safer procedures in several surgical specialities. Fusing patient-specific pre-operative information, typically 3D models extracted from CT scans or MRI, with real-time surgical images allows the surgeon to have detailed information on the anatomical structure of the surgical target intra-operatively. The coupling of AR a... |
See What a Strabismus Patient Sees Using Eye Robots | https://ieeexplore.ieee.org/document/10342099/ | [
"Yidi Huang",
"Qi Wei",
"Joseph L. Demer",
"Ningshi Yao",
"Yidi Huang",
"Qi Wei",
"Joseph L. Demer",
"Ningshi Yao"
] | Ocular mobility disorders such as strabismus af-fect millions of people. Patients' descriptions of their symptoms, such as what they see and how their vision has changed, are important for ophthalmologists to diagnose, monitor pro-gression, and evaluate treatment effectiveness. However, such verbal depiction may be vague and Subjective. A data-driven simulator that visualizes abnormal vision exper... |
Visual-Kinematics Graph Learning for Procedure-Agnostic Instrument Tip Segmentation in Robotic Surgeries | https://ieeexplore.ieee.org/document/10342120/ | [
"Jiaqi Liu",
"Yonghao Long",
"Kai Chen",
"Cheuk Hei Leung",
"Zerui Wang",
"Qi Dou",
"Jiaqi Liu",
"Yonghao Long",
"Kai Chen",
"Cheuk Hei Leung",
"Zerui Wang",
"Qi Dou"
] | Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical autonomy. However, this task is very challenging due to the small sizes of surgical instrument tips, and significant variance of surgical scenes across different proced... |
Dynamic Heart Simulator for Ultrasound-Guided Pericardiocentesis | https://ieeexplore.ieee.org/document/10342122/ | [
"Kim Yan",
"Wanquan Yan",
"Shing Shin Cheng",
"Kim Yan",
"Wanquan Yan",
"Shing Shin Cheng"
] | Pericardiocentesis is an important surgical intervention to treat a medical condition called pericardial effusion, during which excessive fluid accumulates around the heart, potentially leading to life-threatening situation. It involves the insertion of a needle and catheter towards the heart into the pericardial space to drain the excessive fluid under ultrasound (US) guidance. The risky procedur... |
Method for Robotic Motion Compensation During PET Imaging of Mobile Subjects | https://ieeexplore.ieee.org/document/10341444/ | [
"Junxiang Wang",
"Iulian Iordachita",
"Peter Kazanzides",
"Junxiang Wang",
"Iulian Iordachita",
"Peter Kazanzides"
] | Studies of the human brain during natural activities, such as locomotion, would benefit from the ability to image deep brain structures during these activities. While Positron Emission Tomography (PET) can image these structures, the bulk and weight of current scanners are not compatible with the desire for a wearable device. This has motivated the design of a robotic system to support a PET imagi... |
On the Potentials of Surface Tactile Imaging and Dilated Residual Networks for Early Detection of Colorectal Cancer Polyps | https://ieeexplore.ieee.org/document/10342161/ | [
"Nethra Venkatayogi",
"Qin Hu",
"Ozdemir Can Kara",
"Tarunraj G. Mohanraj",
"S. Farokh Atashzar",
"Farshid Alambeigi",
"Nethra Venkatayogi",
"Qin Hu",
"Ozdemir Can Kara",
"Tarunraj G. Mohanraj",
"S. Farokh Atashzar",
"Farshid Alambeigi"
] | This study proposes a novel diagnosis framework to decrease the early detection miss rate of colorectal cancer (CRC) polyps by using a hypersensitive vision-based tactile sensor (HySenSe) and a deep residual neural network. The HySenSe generates high-resolution 3D textural images of 160 realistic polyp phantoms for accurate classification via the proposed deep learning (DL) architecture. The DL mo... |
A Smart Handheld Edge Device for on-Site Diagnosis and Classification of Texture and Stiffness of Excised Colorectal Cancer Polyps | https://ieeexplore.ieee.org/document/10341678/ | [
"Ozdemir Can Kara",
"Jiaqi Xue",
"Nethra Venkatayogi",
"Tarunraj G. Mohanraj",
"Yuki Hirata",
"Naruhiko Ikoma",
"S. Farokh Atashzar",
"Farshid Alambeigi",
"Ozdemir Can Kara",
"Jiaqi Xue",
"Nethra Venkatayogi",
"Tarunraj G. Mohanraj",
"Yuki Hirata",
"Naruhiko Ikoma",
"S. Farokh Atashzar",
"Farshid Alambeigi"
] | This paper proposes a smart handheld textural sensing medical device with complementary Machine Learning (ML) algorithms to enable on-site Colorectal Cancer (CRC) polyp diagnosis and pathology of excised tumors. The proposed unique handheld edge device benefits from a unique tactile sensing module and a dual-stage machine learning algorithms (composed of a dilated residual network and a t-SNE engi... |
Underwater and Surface Aquatic Locomotion of Soft Biomimetic Robot Based on Bending Rolled Dielectric Elastomer Actuators | https://ieeexplore.ieee.org/document/10342144/ | [
"Chenyu Zhang",
"Chen Zhang",
"Juntian Qu",
"Xiang Qian",
"Chenyu Zhang",
"Chen Zhang",
"Juntian Qu",
"Xiang Qian"
] | All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we propose and demonstrate a mantas-like soft aquatic robot which propels itself by flapping-fins using rolled dielectric elastomer actuators (DEAs) with bending motions... |
Swarm of One: Bottom-Up Emergence of Stable Robot Bodies from Identical Cells | https://ieeexplore.ieee.org/document/10342118/ | [
"Trevor Smith",
"R. Michael Butts",
"Nathan Adkins",
"Yu Gu",
"Trevor Smith",
"R. Michael Butts",
"Nathan Adkins",
"Yu Gu"
] | Unlike most human-engineered systems, biological systems are emergent from low-level interactions, allowing much broader diversity and superior adaptation to complex environments. Inspired by the process of morphogenesis in nature, a bottom-up design approach for robot morphology is proposed to treat a robot's body as an emergent response to underlying processes rather than a predefined shape. Thi... |
Real-Time Pose Estimation of Rats Based on Stereo Vision Embedded in a Robotic Rat | https://ieeexplore.ieee.org/document/10342475/ | [
"Xiaowen Guo",
"Guanglu Jia",
"Mohamed Al-Khulaqui",
"Zhe Chen",
"Toshio Fukuda",
"Qing Shi",
"Xiaowen Guo",
"Guanglu Jia",
"Mohamed Al-Khulaqui",
"Zhe Chen",
"Toshio Fukuda",
"Qing Shi"
] | In this paper, we propose a system for real-time rat pose estimation based on stereo vision. The system is dedicated to robot-rat interaction research. First, we design a lightweight, high-resolution network (RRKDNet) for keypoint detection of the rat. The network is trained on a dataset of rat images, which are captured by the robotic rat in first-person view. Second, based on the keypoint detect... |
Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot | https://ieeexplore.ieee.org/document/10341489/ | [
"Yixiang Liu",
"Xiaolin Dai",
"Kai Guo",
"Jiang Wu",
"Rui Song",
"Jie Zhao",
"Yibin Li",
"Yixiang Liu",
"Xiaolin Dai",
"Kai Guo",
"Jiang Wu",
"Rui Song",
"Jie Zhao",
"Yibin Li"
] | Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deform... |
Reinforcement Learning Based Multi-Layer Bayesian Control for Snake Robots in Cluttered Scenes | https://ieeexplore.ieee.org/document/10342171/ | [
"Jessica Ziyu Qu",
"William Ziming Qu",
"Li Li",
"Yuanyuan Jia",
"Jessica Ziyu Qu",
"William Ziming Qu",
"Li Li",
"Yuanyuan Jia"
] | The majority of current research on reinforcement learning (RL) for snake robot control do not sufficiently account for the spatial and temporal dependencies within the robot or its interaction with its environment during movement. To address this issue, we propose an RL based multi-layer Bayesian method for autonomous snake robot control, which handles challenging scenarios and improves navigatio... |
Roblets: Robotic Tablets That Self-Assemble and Self-Fold into a Robot | https://ieeexplore.ieee.org/document/10342239/ | [
"Junyi Han",
"Daniela Rus",
"Shuhei Miyashita",
"Junyi Han",
"Daniela Rus",
"Shuhei Miyashita"
] | Inspired by human proteins that are synthesized from only 20 types of amino acids, the development of self-assembly methods that allow robots to be built simply by randomly stirring the parts has been explored for many years. The key challenges include how to synthesize parts in pieces into a three-dimensional functional structure in a practical time, and subsequently, achieve a controlled robotic... |
Output Feedback Formation Control of a School of Robotic Fish with Artificial Lateral Line Sensing | https://ieeexplore.ieee.org/document/10342055/ | [
"Artur Wolek",
"Derek A. Paley",
"Artur Wolek",
"Derek A. Paley"
] | This paper presents an estimation and control framework to stabilize the parallel motion of a school of robotic fish using sensory feedback. Each robot is modeled as a constant speed, planar, self-propelled particle that produces a flowfield according to a dipole potential flow model. An artificial lateral line system senses pressure fluctuations at several locations along each robot's body. The e... |
An Origami-Based Miniature Jumping Robot with Adjustable Jumping Trajectory and Enhanced Intermittent Jumps | https://ieeexplore.ieee.org/document/10342330/ | [
"Zhipeng Xiong",
"Lingqi Tang",
"Longlong Hu",
"Songlin Yang",
"Xiaojun Yang",
"Yao Li",
"Bing Li",
"Zhipeng Xiong",
"Lingqi Tang",
"Longlong Hu",
"Songlin Yang",
"Xiaojun Yang",
"Yao Li",
"Bing Li"
] | A small-scale jumping robot can reach obstacles much larger than its size. It is important for a jumping robot to perform intermittent jumps to cross through rough terrains. However, the limitations of conventional structures hinder the further integration of functions to a miniature (sub-50 g) jumping robot. No sub-50 g jumpers could perform intermittent jumps with adjustable jumping trajectories... |
Finding the Goal: Insect-Inspired Spiking Neural Network for Heading Error Estimation | https://ieeexplore.ieee.org/document/10342210/ | [
"Thorben Schoepe",
"Elisabetta Chicca",
"Thorben Schoepe",
"Elisabetta Chicca"
] | Insects have extraordinary navigational abilities. Monarch butterflies migrate every year to the same forest over hundreds of kilometers, desert ants find their way back to the nest tens of meters away and dung beetles maintain the same heading direction over meters. The performance of these agents has been optimized by evolution over the last 500 million years leading to power-efficient, low-late... |
Motion Control and Planning of a Bio-Inspired Aerial Vehicle with an Actively Controlled Abdomen-Like Appendage | https://ieeexplore.ieee.org/document/10341458/ | [
"Berrin Güney",
"Mustafa Mert Ankaralı",
"Berrin Güney",
"Mustafa Mert Ankaralı"
] | Animals' anatomies have control systems combined with multi-motors and high-bandwidth sensors. Their complicated mechanisms give them high maneuverability with sufficient inertial stabilization performance during walking, jumping, and flying. From the point of aerial locomotion, flying insects use abdomen reflexes to stabilize their head positions. Articulation of the thoracic-abdominal joint cont... |
A Tailsitter UAV Based on Bioinspired, Tendon-Driven, Shape-Morphing Wings with Aerofoil-Shaped Artificial Feathers | https://ieeexplore.ieee.org/document/10341538/ | [
"Junbang Liang",
"Joao Buzzatto",
"Minas Liarokapis",
"Junbang Liang",
"Joao Buzzatto",
"Minas Liarokapis"
] | Unmanned aerial vehicles (UAVs) have revolutionised various industries, such as agriculture, remote sensing, and infrastructure inspection. To explore new designs and improve UAV flight performance, roboticists are seeking inspiration from nature. In this paper, we present a bioinspired tailsitter UAV utilizing shape-morphing wings with aerofoil-shaped artificial feathers. The design of the UAV is... |
How to Achieve Maneuverability and Adaptability in an Underactuated Robotic Fish by using a Bio-inspired Control Approach | https://ieeexplore.ieee.org/document/10342036/ | [
"Gianluca Manduca",
"Gaspare Santaera",
"Paolo Dario",
"Cesare Stefanini",
"Donato Romano",
"Gianluca Manduca",
"Gaspare Santaera",
"Paolo Dario",
"Cesare Stefanini",
"Donato Romano"
] | Biomimetic robotics can help support underwater exploration and monitoring while minimizing ecosystem distur-bance. It also has potential applications in sustainable aqua-farming management, biodiversity preservation, and animal-robot interaction studies. This study proposes a bio-inspired control strategy for an underactuated robotic fish, which utilizes a single DC motor to drive a mechanism tha... |
An Energy-Efficient Lane-Keeping System Using 3D LiDAR Based on Spiking Neural Network | https://ieeexplore.ieee.org/document/10342044/ | [
"Genghang Zhuang",
"Zhenshan Bing",
"Zhen Zhou",
"Xiangtong Yao",
"Yuhong Huang",
"Kai Huang",
"Alois Knoll",
"Genghang Zhuang",
"Zhenshan Bing",
"Zhen Zhou",
"Xiangtong Yao",
"Yuhong Huang",
"Kai Huang",
"Alois Knoll"
] | Lane keeping, as a fundamental functionality of autonomous navigation, remains a challenging task for autonomous robots and vehicles. Recently, spiking neural networks (SNNs) have gained attention and research interest due to their biological plausibility and application potential on neuromorphic processors. SNNs have also been successfully deployed on robots to solve autonomous navigation problem... |
Approximation Algorithms for Charging Station Placement for Mobile Robots | https://ieeexplore.ieee.org/document/10341361/ | [
"Tanmoy Kundu",
"Indranil Saha",
"Tanmoy Kundu",
"Indranil Saha"
] | Optimal placement of charging stations in a workspace is a crucial problem to address, for efficient operation of battery-driven mobile robots. When the battery charge of a robot reaches a certain threshold, the robot must be able to reach a nearby charging station to recharge its battery. In this paper, we deal with two different versions of the optimization problem related to the optimal placeme... |
LQR-Trees with Sampling Based Exploration of the State Space | https://ieeexplore.ieee.org/document/10341767/ | [
"Jiří Fejlek",
"Stefan Ratschan",
"Jiří Fejlek",
"Stefan Ratschan"
] | This paper introduces an extension of the LQR-tree algorithm, which is a feedback-motion-planning algorithm for stabilizing a system of ordinary differential equations from a bounded set of initial conditions to a goal. The constructed policies are represented by a tree of exemplary system trajec-tories, so called demonstrations, and linear-quadratic regulator (LQR) feedback controllers. Consequen... |
Simultaneous Survey and Inspection with Autonomous Underwater Vehicles | https://ieeexplore.ieee.org/document/10341736/ | [
"James McMahon",
"Riley Parker",
"Philip Baldoni",
"Stuart Anstee",
"Erion Plaku",
"James McMahon",
"Riley Parker",
"Philip Baldoni",
"Stuart Anstee",
"Erion Plaku"
] | As the future of autonomous underwater vehicle (AUV) deployments tends to multi-vehicle systems, new approaches in coordination and control are needed. In this work, we consider the problem of simultaneous survey and inspection where one vehicle dynamically discovers objects while another vehicle must inspect as many of the objects as possible over the course of the mission. This requires a fully ... |
Relative Roughness Measurement Based Real-Time Speed Planning for Autonomous Vehicles on Rugged Road | https://ieeexplore.ieee.org/document/10341375/ | [
"Liang Wang",
"Tianwei Niu",
"Shoukun Wang",
"Shuai Wang",
"Junzheng Wang",
"Liang Wang",
"Tianwei Niu",
"Shoukun Wang",
"Shuai Wang",
"Junzheng Wang"
] | In order to guarantee autonomous vehicles' autonomy, mobility, and ride quality in rugged environments, a real-time speed planning method based on the time-frequency transformation of terrain characteristics is designed to achieve adaptive speed planning of autonomous vehicles in rough ground. On the one hand, the vertical profile of the lidar's point cloud data is converted from the time domain t... |
Real-Time Motion Planning Framework for Autonomous Vehicles with Learned Committed Trajectory Distribution | https://ieeexplore.ieee.org/document/10342292/ | [
"Minsoo Kim",
"Seho Shin",
"Joonwoo Ahn",
"Jaeheung Park",
"Minsoo Kim",
"Seho Shin",
"Joonwoo Ahn",
"Jaeheung Park"
] | This study proposes a realtime motion planning framework that leverages the prediction of a portion of the optimal trajectory for sampling-based anytime planning algorithms. Existing algorithms predict the entire optimal path and bias random samples toward it for fast path planning. However, these algorithms may not be suitable for realtime frameworks because the bias-sampling strategy should cons... |
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