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Action Segmentation Using 2D Skeleton Heatmaps and Multi-Modality Fusion | https://ieeexplore.ieee.org/document/10610644/ | [
"Syed Waleed Hyder",
"Muhammad Usama",
"Anas Zafar",
"Muhammad Naufil",
"Fawad Javed Fateh",
"Andrey Konin",
"M. Zeeshan Zia",
"Quoc-Huy Tran",
"Syed Waleed Hyder",
"Muhammad Usama",
"Anas Zafar",
"Muhammad Naufil",
"Fawad Javed Fateh",
"Andrey Konin",
"M. Zeeshan Zia",
"Quoc-Huy Tran"
] | This paper presents a 2D skeleton-based action segmentation method with applications in fine-grained human activity recognition. In contrast with state-of-the-art methods which directly take sequences of 3D skeleton coordinates as inputs and apply Graph Convolutional Networks (GCNs) for spatiotemporal feature learning, our main idea is to use sequences of 2D skeleton heatmaps as inputs and employ ... |
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor | https://ieeexplore.ieee.org/document/10611186/ | [
"Wen Fan",
"Haoran Li",
"Weiyong Si",
"Shan Luo",
"Nathan Lepora",
"Dandan Zhang",
"Wen Fan",
"Haoran Li",
"Weiyong Si",
"Shan Luo",
"Nathan Lepora",
"Dandan Zhang"
] | Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which seamlessly integrates both tactile and visual perception capabilities into a single, integrated sensor unit. ViTacTip features a transparent skin to capture fine feat... |
A Large-area Tactile Sensor for Distributed Force Sensing Using Highly Sensitive Piezoresistive Sponge | https://ieeexplore.ieee.org/document/10610739/ | [
"Wendong Zheng",
"Kun Liu",
"Di Guo",
"Wuqiang Yang",
"Jun Zhu",
"Huaping Liu",
"Wendong Zheng",
"Kun Liu",
"Di Guo",
"Wuqiang Yang",
"Jun Zhu",
"Huaping Liu"
] | Tactile sensing plays a critical role in enabling robots to interact safely with target objects in dynamic and unstructured environments. While various tactile sensors based on different sensing principles or different sensitive materials have been proposed, the development of flexible large-area tactile sensors for robots is still challenging. In this paper, a novel highly sensitive piezoresistiv... |
A Neuromorphic System for the Real-time Classification of Natural Textures | https://ieeexplore.ieee.org/document/10610401/ | [
"George Brayshaw",
"Benjamin Ward-Cherrier",
"Martin J. Pearson",
"George Brayshaw",
"Benjamin Ward-Cherrier",
"Martin J. Pearson"
] | Tactile exploration of surfaces is a key component of everyday life, allowing us to make complex inferences about our environments even when vision is occluded. The emergence of biomimetic neuromorphic hardware in recent years has furthered our ability to create biologically plausible sensing solutions. While these platforms continue to improve in regards to latency and power consumption, within r... |
An Electromagnetism-Inspired Method for Estimating In-Grasp Torque from Visuotactile Sensors | https://ieeexplore.ieee.org/document/10611429/ | [
"Yuni Fuchioka",
"Masashi Hamaya",
"Yuni Fuchioka",
"Masashi Hamaya"
] | Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the diverse range of information accessible from tactile sensors, torques transmitted from the grasped object to the fingers through extrinsic environmental contact may b... |
Learning Contact for Haptic Feedback: Switching X-lateral Teleoperators | https://ieeexplore.ieee.org/document/10611571/ | [
"Nural Yilmaz",
"Ugur Tumerdem",
"Nural Yilmaz",
"Ugur Tumerdem"
] | In this paper, we propose X-lateral teleoperation: a novel hybrid unilateral-bilateral teleoperation framework. Bilateral teleoperation enables kinesthetic coupling between the operator and the remote environment with haptic feedback. However, in free motion, unlike unilateral teleoperators, bilateral teleoperators reflect undesirable operational forces to the operator. The proposed X-lateral tele... |
GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception | https://ieeexplore.ieee.org/document/10610823/ | [
"Yuxiang Ma",
"Jialiang Alan Zhao",
"Edward Adelson",
"Yuxiang Ma",
"Jialiang Alan Zhao",
"Edward Adelson"
] | Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, unde... |
RainbowSight: A Family of Generalizable, Curved, Camera-Based Tactile Sensors For Shape Reconstruction | https://ieeexplore.ieee.org/document/10609863/ | [
"Megha H. Tippur",
"Edward H. Adelson",
"Megha H. Tippur",
"Edward H. Adelson"
] | Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work well within curved geometries. To address this issue, we introduce RainbowSight, a family of curved, compact, camera-based tactile sensors which use addressabl... |
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations | https://ieeexplore.ieee.org/document/10610811/ | [
"Zhaoyuan Gu",
"Rongming Guo",
"William Yates",
"Yipu Chen",
"Yuntian Zhao",
"Ye Zhao",
"Zhaoyuan Gu",
"Rongming Guo",
"William Yates",
"Yipu Chen",
"Yuntian Zhao",
"Ye Zhao"
] | This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the first-ever study to apply STL-guided trajectory optimization for bipedal locomotion push recovery, where the robot experiences unexpected disturbances. Existing recove... |
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion | https://ieeexplore.ieee.org/document/10610537/ | [
"Maegan Tucker",
"Kejun Li",
"Aaron D. Ames",
"Maegan Tucker",
"Kejun Li",
"Aaron D. Ames"
] | Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness – the estimated size of the hybrid forward invariant set associated with the step-to-step dynamics. Here, the forward invariant set can be loosely interpreted as the ... |
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts | https://ieeexplore.ieee.org/document/10611056/ | [
"Stefan Fasano",
"James Foster",
"Sylvain Bertrand",
"Christian DeBuys",
"Robert Griffin",
"Stefan Fasano",
"James Foster",
"Sylvain Bertrand",
"Christian DeBuys",
"Robert Griffin"
] | For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work, we propose a locomotion controller for efficient walking over near-flat ground using a relatively simple, model-based controller that utilizes a novel combinat... |
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning | https://ieeexplore.ieee.org/document/10610978/ | [
"Guillermo A. Castillo",
"Bowen Weng",
"Wei Zhang",
"Ayonga Hereid",
"Guillermo A. Castillo",
"Bowen Weng",
"Wei Zhang",
"Ayonga Hereid"
] | This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy. The framework utilizes an autoencoder to learn a low-dimensional latent space that captures the complex dynamics of bipedal locomotion from existing locomotion data. This reduced dimensional state representation is the... |
LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots | https://ieeexplore.ieee.org/document/10610222/ | [
"Qingrui Zhao",
"Mingyuan Li",
"Yongliang Shi",
"Xuechao Chen",
"Zhangguo Yu",
"Lianqiang Han",
"Zhenyuan Fu",
"Jintao Zhang",
"Chao Li",
"Yuanxi Zhang",
"Qiang Huang",
"Qingrui Zhao",
"Mingyuan Li",
"Yongliang Shi",
"Xuechao Chen",
"Zhangguo Yu",
"Lianqiang Han",
"Zhenyuan Fu",
"Jintao Zhang",
"Chao Li",
"Yuanxi Zhang",
"Qiang Huang"
] | High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond state estimation, the foot contact position is also modeled and estimated. This allows for both position and velocity updates from kinematic measurement. Addition... |
Geometric Slosh-Free Tracking for Robotic Manipulators | https://ieeexplore.ieee.org/document/10610813/ | [
"Jon Arrizabalaga",
"Lukas Pries",
"Riddhiman Laha",
"Runkang Li",
"Sami Haddadin",
"Markus Ryll",
"Jon Arrizabalaga",
"Lukas Pries",
"Riddhiman Laha",
"Runkang Li",
"Sami Haddadin",
"Markus Ryll"
] | This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we present a real-time slosh-free tracking technique. This method solely requires the reference trajectory and the robot’s kinematic constraints to output kinematicall... |
Online-Learning-Based Distributionally Robust Motion Control with Collision Avoidance for Mobile Robots | https://ieeexplore.ieee.org/document/10610765/ | [
"Han Wang",
"Chao Ning",
"Longyan Li",
"Weidong Zhang",
"Han Wang",
"Chao Ning",
"Longyan Li",
"Weidong Zhang"
] | Collision-free navigation is a critical issue in robotic systems as the environment is often dynamic and uncertain. This paper investigates a data-stream-driven motion control problem for mobile robots to avoid randomly moving obstacles when the probability distribution of the obstacle’s movement is partially observable through data and can be even time-varying. A data-stream-driven ambiguity set ... |
Prediction of pose errors implied by external forces applied on robots: towards a metric for the control of collaborative robots | https://ieeexplore.ieee.org/document/10610746/ | [
"Vincent Fortineau",
"Vincent Padois",
"David Daney",
"Vincent Fortineau",
"Vincent Padois",
"David Daney"
] | The presented work tackles the question of quantifying the pose deviations of robots subject to external disturbance forces. While this question may not be central for large robots perfectly rejecting disturbances through high controller gains, it is an important factor when considering collaborative settings where smaller robots may be deviated from their task because of unmodeled physical intera... |
Iterative Learning Control for Deformable Open-Frame Cable-Driven Parallel Robots | https://ieeexplore.ieee.org/document/10610529/ | [
"Wuichung Cheng",
"Arthur Ngo Foon Chan",
"Darwin Lau",
"Wuichung Cheng",
"Arthur Ngo Foon Chan",
"Darwin Lau"
] | This paper proposed an iterative learning control (ILC) scheme for deformable open-frame cable-driven parallel robots (D-CDPRs). In contrast to the straightforward inverse kinematics of the rigid frame cable-driven parallel robots (CDPRs), accurate modeling of the deformable frame poses challenges due to errors and uncertainties. To address these issues, the authors propose the use of ILC, a contr... |
A Study of Force-Free Control Framework for Industrial Manipulator Tasks Based on High-Pass Filter | https://ieeexplore.ieee.org/document/10610526/ | [
"Guanwei He",
"Guodong Feng",
"Beichen Ding",
"Guanwei He",
"Guodong Feng",
"Beichen Ding"
] | Force-free control (FFC) allows for flexible manipulator motion in response to external forces, making it a vital component of human-robot interaction (HRI). Manual intervention may cause uneven forces on the manipulator or frequencies close to the natural frequency, and mechanical resonance can occur due to the inertia of the manipulator and adjustable equivalent stiffness of the controller. This... |
Uncertainty-Aware Contextual Visualization for Human Supervision of OCT-Guided Autonomous Robotic Subretinal Injection | https://ieeexplore.ieee.org/document/10610319/ | [
"Michael Sommersperger",
"Shervin Dehghani",
"Philipp Matten",
"Hessam Roodaki",
"Nassir Navab",
"Michael Sommersperger",
"Shervin Dehghani",
"Philipp Matten",
"Hessam Roodaki",
"Nassir Navab"
] | The injection of therapeutic agents into the sub-retinal space might allow improved treatment of age-related macular degeneration. Various robotic systems have been developed to achieve the required precision and, in combination with intraoperative Optical Coherence Tomography (iOCT) imaging, methods for autonomous robotic guidance have been proposed. In such systems, the robot’s cognition is ofte... |
A Track-based Colon Endoscopic Robot with Depth Perception Stereo Cameras for Haustral Fold Detection during Colonic Navigation | https://ieeexplore.ieee.org/document/10611617/ | [
"Shujing He",
"Yujie Zhang",
"Baoyi Huang",
"Jie Lin",
"Chaoyang Shi",
"Chengzhi Hu",
"Shujing He",
"Yujie Zhang",
"Baoyi Huang",
"Jie Lin",
"Chaoyang Shi",
"Chengzhi Hu"
] | Colon endoscopic robots represent a promising screening modality for the visualization of colon cancers with high sensitivity. However, current colonoscopy robots are often characterized by intricate and bulky mechanical structures, which pose practical challenges when moving through the complex and narrow environment of the colon. Moreover, these robots are typically equipped with a single camera... |
A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography | https://ieeexplore.ieee.org/document/10610167/ | [
"Luca Beber",
"Edoardo Lamon",
"Davide Nardi",
"Daniele Fontanelli",
"Matteo Saveriano",
"Luigi Palopoli",
"Luca Beber",
"Edoardo Lamon",
"Davide Nardi",
"Daniele Fontanelli",
"Matteo Saveriano",
"Luigi Palopoli"
] | In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to reproduce the skills required to acquire high-quality images while reducing the sonographer’s physical efforts. In this paper, we address the control of the intera... |
Implicit Neural Representations for Breathing-compensated Volume Reconstruction in Robotic Ultrasound | https://ieeexplore.ieee.org/document/10611443/ | [
"Yordanka Velikova",
"Mohammad Farid Azampour",
"Walter Simson",
"Marco Esposito",
"Nassir Navab",
"Yordanka Velikova",
"Mohammad Farid Azampour",
"Walter Simson",
"Marco Esposito",
"Nassir Navab"
] | Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter-operator variability and inconsistent image acquisition hinder the widespread adoption of extensive screening programs. Robotic ultrasound systems have emerged as a promising solution, offering standardized acquisition ... |
Shadow-Based 3D Pose Estimation of Intraocular Instrument Using Only 2D Images | https://ieeexplore.ieee.org/document/10611011/ | [
"Junjie Yang",
"Zhihao Zhao",
"Mathias Maier",
"Kai Huang",
"Nassir Navab",
"M. Ali Nasseri",
"Junjie Yang",
"Zhihao Zhao",
"Mathias Maier",
"Kai Huang",
"Nassir Navab",
"M. Ali Nasseri"
] | In ophthalmic surgeries, such as vitreoretinal operations, surgeons rely on imaging systems, primarily microscopes, for real-time instrument monitoring and motion planning. However, novice surgeons struggle to extract 3D instrument positions from 2D microscope frames, necessitating extensive trial-and-error experience with the background that additional imaging modalities such as iOCT remain inacc... |
Robot Task Planning Under Local Observability | https://ieeexplore.ieee.org/document/10610876/ | [
"Max Merlin",
"Shane Parr",
"Neev Parikh",
"Sergio Orozco",
"Vedant Gupta",
"Eric Rosen",
"George Konidaris",
"Max Merlin",
"Shane Parr",
"Neev Parikh",
"Sergio Orozco",
"Vedant Gupta",
"Eric Rosen",
"George Konidaris"
] | Real-world robot task planning is intractable in part due to partial observability. A common approach to reducing complexity is introducing additional structure into the decision process, such as mixed-observability, factored states, or temporally-extended actions. We propose the locally observable Markov decision process, a novel formulation that models task-level planning where uncertainty perta... |
Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization | https://ieeexplore.ieee.org/document/10610192/ | [
"Chengkai Wu",
"Ruilin Wang",
"Mianzhi Song",
"Fei Gao",
"Jie Mei",
"Boyu Zhou",
"Chengkai Wu",
"Ruilin Wang",
"Mianzhi Song",
"Fei Gao",
"Jie Mei",
"Boyu Zhou"
] | Mobile manipulators have recently gained significant attention in the robotics community due to their superior potential in industrial and service applications. However, the high degree of freedom associated with mobile manipulators poses challenges in achieving real-time whole-body motion planning. To bridge the gap, this paper presents a motion planning method capable of generating high-quality,... |
Gaussian Mixture Likelihood-based Adaptive MPC for Interactive Mobile Manipulators | https://ieeexplore.ieee.org/document/10610115/ | [
"Dimitrios Rakovitis",
"Dennis Mronga",
"Dimitrios Rakovitis",
"Dennis Mronga"
] | Mobile robots are nowadays frequently used for interaction tasks in the real world, e.g. for opening doors or for pick-and-place tasks. When used in real-world environments, adapting the robot controllers to uncertain contact dynamics is a significant challenge. Adaptive Model Predictive Control (AMPC) is an approach for controlling robot motions while adapting to uncertain or changing dynamics. H... |
GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion | https://ieeexplore.ieee.org/document/10610125/ | [
"Jiazhao Zhang",
"Nandiraju Gireesh",
"Jilong Wang",
"Xiaomeng Fang",
"Chaoyi Xu",
"Weiguang Chen",
"Liu Dai",
"He Wang",
"Jiazhao Zhang",
"Nandiraju Gireesh",
"Jilong Wang",
"Xiaomeng Fang",
"Chaoyi Xu",
"Weiguang Chen",
"Liu Dai",
"He Wang"
] | Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while approaching it for grasping. In this work, we propose a graspability-aware mobile manipulation approach powered by an online grasping pose fusion framework tha... |
Dynamic Interaction Control in Legged Mobile Manipulators: A Decoupled Approach | https://ieeexplore.ieee.org/document/10611344/ | [
"Qikai Li",
"Qinchen Meng",
"Yuxing Qin",
"Jiawei Chen",
"Xilun Ding",
"Kun Xu",
"Qikai Li",
"Qinchen Meng",
"Yuxing Qin",
"Jiawei Chen",
"Xilun Ding",
"Kun Xu"
] | Legged mobile manipulators are receiving much more attention. Mobile platforms can infinitely expand the workspace of robotic arms, providing more possibilities for robot application scenarios. Compared with wheeled mobile manipulators, legged mobile manipulators have higher requirements for cooperative control of legged robots and robotic arms. This work decouples the control of the robotic arm a... |
Active-Perceptive Motion Generation for Mobile Manipulation | https://ieeexplore.ieee.org/document/10610714/ | [
"Snehal Jauhri",
"Sophie Lueth",
"Georgia Chalvatzaki",
"Snehal Jauhri",
"Sophie Lueth",
"Georgia Chalvatzaki"
] | Mobile Manipulation (MoMa) systems incorporate the benefits of mobility and dexterity, due to the enlarged space in which they can move and interact with their environment. However, even when equipped with onboard sensors, e.g., an embodied camera, extracting task-relevant visual information in unstructured and cluttered environments, such as households, remains challenging. In this work, we intro... |
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion | https://ieeexplore.ieee.org/document/10611128/ | [
"Guillaume Bellegarda",
"Milad Shafiee",
"Auke Ijspeert",
"Guillaume Bellegarda",
"Milad Shafiee",
"Auke Ijspeert"
] | We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework. Through both exteroceptive and proprioceptive sensing, the agent learns to coordinate rhythmic behavior among different oscillators to track velocity commands, ... |
Self-Righting Shell for Robotic Hexapod | https://ieeexplore.ieee.org/document/10610914/ | [
"Katelyn King",
"Shai Revzen",
"Katelyn King",
"Shai Revzen"
] | Decimeter scale robots in human environments are small relative to obstacles they encounter, making them prone to flipping over and needing to self-right. We present a multifaceted shell that by its geometry alone enables the hexapedal robot MediumANT to passively self-right without the need for additional sensory feedback. We designed the shell by specifying the cross-sectional geometry in the yz... |
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping | https://ieeexplore.ieee.org/document/10610141/ | [
"Guillaume Bellegarda",
"Milad Shafiee",
"Merih Ekin Özberk",
"Auke Ijspeert",
"Guillaume Bellegarda",
"Milad Shafiee",
"Merih Ekin Özberk",
"Auke Ijspeert"
] | Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either through model-based trajectory optimization, or through deep learning-based methods involving millions of timesteps of simulation interactions. Notably, such off... |
AeroDima: Cheetah-Inspired Aerodynamic Tail Design for Rapid Maneuverability | https://ieeexplore.ieee.org/document/10610202/ | [
"Daryn Bright",
"Stacey Shield",
"Amir Patel",
"Daryn Bright",
"Stacey Shield",
"Amir Patel"
] | Scientists have long theorized that the cheetah’s tail contributes to its impressive maneuvrability at high speeds by stabilizing its body. This has inspired the design of several agile robots, including Dima - a wheeled platform that used cheetah-inspired inertial tail swings to better execute rapid acceleration and turning motions. Subsequent research suggests that the effectiveness of the cheet... |
Spined Torso Renders Advanced Mobility for Quadrupedal Locomotion | https://ieeexplore.ieee.org/document/10610113/ | [
"Jichao Wang",
"Jinyu Cheng",
"Jiangtao Hu",
"Wei Gao",
"Shiwu Zhang",
"Jichao Wang",
"Jinyu Cheng",
"Jiangtao Hu",
"Wei Gao",
"Shiwu Zhang"
] | Animals possessing spinal columns often exhibit exceptional agility for highly dynamic locomotion. The spine grants the trunk with increased degrees of freedom, thereby endowing diverse postures. This paper presents the development of a robot STRAY for quadrupedal locomotion, featuring a four-degree-of-freedom spine design. Using trajectory based reinforcement learning techniques, STRAY is able to... |
Pegasus: a Novel Bio-inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism * | https://ieeexplore.ieee.org/document/10611633/ | [
"Yuzhen Pan",
"Rezwan Al Islam Khan",
"Chenyun Zhang",
"Anzheng Zhang",
"Huiliang Shang",
"Yuzhen Pan",
"Rezwan Al Islam Khan",
"Chenyun Zhang",
"Anzheng Zhang",
"Huiliang Shang"
] | This paper presents the design and analysis of Pegasus, a quadrupedal wheeled robot grounded in biomimicry principles. Pegasus offers two distinct motion modes, including a wheeled motion and a hybrid wheeled-legged motion, enabling adaptability across various tasks and environmental conditions. The robot draws inspiration from the joint structures of quadruped animals and incorporates biomimetic ... |
LeapRun: A Dynamic Soft Robot with Running and Jumping Capabilities | https://ieeexplore.ieee.org/document/10610431/ | [
"J. Lu",
"J. Liang",
"D. Zhu",
"D. Wang",
"Y. Liu",
"H. Chen",
"Y. Bai",
"H. Zhang",
"M. Zhang",
"J. Lu",
"J. Liang",
"D. Zhu",
"D. Wang",
"Y. Liu",
"H. Chen",
"Y. Bai",
"H. Zhang",
"M. Zhang"
] | In the natural world, insects exhibit remarkable locomotion capabilities through a combination of running and jumping. However, replicating this versatile locomotion in a soft robot poses technical and design complexities. Here, we propose a dynamic soft robot named LeapRun that possesses agile locomotion and the ability to perform continuous jumping. To achieve this, a prototype soft robot (weigh... |
Machine Learning-Driven Burrowing with a Snake-Like Robot | https://ieeexplore.ieee.org/document/10610264/ | [
"Sean Even",
"Holden Gordon",
"Hoeseok Yang",
"Yasemin Ozkan-Aydin",
"Sean Even",
"Holden Gordon",
"Hoeseok Yang",
"Yasemin Ozkan-Aydin"
] | Subterranean burrowing is inherently difficult for robots because of the high forces experienced as well as the high amount of uncertainty in this domain. Because of the difficulty in modeling forces in granular media, we propose the use of a novel machine-learning control strategy to obtain optimal techniques for vertical self-burrowing. In this paper, we realize a snake-like bio-inspired robot t... |
Towards Centimeter-Scale Underwater Mobile Robots: An Architecture for Capable µAUVs | https://ieeexplore.ieee.org/document/10610474/ | [
"Pascal Spino",
"Daniela Rus",
"Pascal Spino",
"Daniela Rus"
] | Underwater robots are indispensable for aquatic exploration, yet their size and complexity often limit broader application. This research presents a pioneering micro autonomous underwater vehicle (µAUV) design. This robot is distinguished by its utilization of mass-produced drone components, novel jet propulsion mechanisms, and multifunctional spherical shell. Its architecture is modular, appendag... |
Untethered Bimodal Robotic Fish with Tunable Bistability | https://ieeexplore.ieee.org/document/10610967/ | [
"Xu Chao",
"Imran Hameed",
"David Navarro-Alarcon",
"Xingjian Jing",
"Xu Chao",
"Imran Hameed",
"David Navarro-Alarcon",
"Xingjian Jing"
] | In nature, fish are excellent swimmers due to their flexible and precise control of tail, which allows them to freely transform between the smooth flapping and the motion of rapid response so that they can move with dexterity. Here, inspired by the versatile motion abilities of fish, a novel robotic fish has been developed, featuring the capability of adaptable bistability. Through tuning the bist... |
Tendon-Driven Continuum Robot for Deep-Sea Application | https://ieeexplore.ieee.org/document/10611177/ | [
"Cora Maria Sourkounis",
"Tom Kwasnitschka",
"Annika Raatz",
"Cora Maria Sourkounis",
"Tom Kwasnitschka",
"Annika Raatz"
] | The extreme conditions of the deep sea require the use of large and expensive diving robots designed to withstand the high pressure in these depths. In order to reduce the costs for sediment sampling in the deep sea and thus facilitate the explorations of rare deep-sea ecosystems, the goal of this research is to design an alternative manipulator for deep-sea suction sampling. Instead of relying on... |
WAVE: An open-source underWater Arm-Vehicle Emulator | https://ieeexplore.ieee.org/document/10611358/ | [
"Marcus Rosette",
"Hannah Kolano",
"Chris Holm",
"Geoffrey A. Hollinger",
"Aaron Marburg",
"Madison Pickett",
"Joseph R. Davidson",
"Marcus Rosette",
"Hannah Kolano",
"Chris Holm",
"Geoffrey A. Hollinger",
"Aaron Marburg",
"Madison Pickett",
"Joseph R. Davidson"
] | Underwater vehicle manipulator systems (UVMS) are increasingly popular platforms for performing subsea operations that require precision manipulation. While there is high demand for fully autonomous or even semi-autonomous systems, most UVMS still require human support teams. Developing new hardware and algorithms for autonomous underwater manipulation is challenging. Simulations do not capture th... |
Rapid Resistography with Passive Overhead-perching Mechanism in an Unmanned Aerial System for Wood Structure Inspection | https://ieeexplore.ieee.org/document/10611159/ | [
"Shawndy Michael Lee",
"Jingmin Liu",
"Jer Luen Chien",
"Wei Hien Ng",
"Milven Lim",
"Shaohui Foong",
"Shawndy Michael Lee",
"Jingmin Liu",
"Jer Luen Chien",
"Wei Hien Ng",
"Milven Lim",
"Shaohui Foong"
] | This paper presents an aerial robotic platform for rapid remote elevated overhead-perching drill operations for wood health inspection. The platform features an innovative passive prismatic-gripper mechanism affixed to the aerial robot’s top, facilitating overhead drilling. The primary aim is to enhance the safety and efficiency of elevated wood structure inspection using the resistography method,... |
Dual Quaternion Control of UAVs with Cable-suspended Load | https://ieeexplore.ieee.org/document/10610170/ | [
"Yuxia Yuan",
"Markus Ryll",
"Yuxia Yuan",
"Markus Ryll"
] | Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified represe... |
Aerial Interaction with Tactile Sensing | https://ieeexplore.ieee.org/document/10611282/ | [
"Xiaofeng Guo",
"Guanqi He",
"Mohammadreza Mousaei",
"Junyi Geng",
"Guanya Shi",
"Sebastian Scherer",
"Xiaofeng Guo",
"Guanqi He",
"Mohammadreza Mousaei",
"Junyi Geng",
"Guanya Shi",
"Sebastian Scherer"
] | While the field of autonomous Uncrewed Aerial Vehicles (UAVs) has grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in high-altitude and high-risk operations. Tactile sensors, being both cost-effective and lightweight, are capable of sensing contact information including... |
A Meter-scale Ornithopter Capable of Jumping Take-off | https://ieeexplore.ieee.org/document/10610300/ | [
"Wei Yan",
"Genliang Chen",
"Zhuang Zhang",
"Hao Wang",
"Wei Yan",
"Genliang Chen",
"Zhuang Zhang",
"Hao Wang"
] | Flapping wing air vehicles(FWAV) or ornithopters are bio-inspired aerial robots that mimic the flying principles of insects and birds. Autonomous take-off is an important capability for FWAV to enhance its performance and extend its working time, which is equipped by almost every kind of bird. As a common method of take-off for birds, jumping take-off has a great ability to adapt to different terr... |
Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller | https://ieeexplore.ieee.org/document/10610445/ | [
"Dongjae Lee",
"Sunwoo Hwang",
"Jeonghyun Byun",
"Seung Jae Lee",
"H. Jin Kim",
"Dongjae Lee",
"Sunwoo Hwang",
"Jeonghyun Byun",
"Seung Jae Lee",
"H. Jin Kim"
] | Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from a ferromagnetic surface during flight, and a switching controller to avoid rotor saturation and mitigate overshoot during transition between free-flight and pe... |
Simulation and Experimental Validation of an Autonomous Perching and Takeoff Method for a Multirotor UAV on Vertical Surfaces using a Suction Cup | https://ieeexplore.ieee.org/document/10610925/ | [
"Bruno Chapdelaine",
"Mathis Celce",
"Charles Vidal",
"Lionel Birglen",
"Bruno Monsarrat",
"Bruno Chapdelaine",
"Mathis Celce",
"Charles Vidal",
"Lionel Birglen",
"Bruno Monsarrat"
] | This paper details the simulation and experimental validation of an autonomous perching and take-off method for a multirotor unmanned aerial vehicle (UAV) using a suction cup perching mechanism on vertical surfaces. The suction cup interaction with different surface types is characterized with experimental tests to accurately model the perching manoeuvre. The resulting model is used to develop a r... |
Field-VIO: Stereo Visual-Inertial Odometry Based on Quantitative Windows in Agricultural Open Fields | https://ieeexplore.ieee.org/document/10611284/ | [
"Jianjing Sun",
"Shuang Wu",
"Jun Dong",
"Junming He",
"Jianjing Sun",
"Shuang Wu",
"Jun Dong",
"Junming He"
] | In agricultural open fields, accurate autonomous localization of robots requires long-term data correlation to reduce cumulative error. Our article presents a Stereo Visual-Inertial Odometry (VIO) system based on ORB-SLAM3 to address the malfunction of the Loop Closure Detection (LCD) methods in this environment. In this method, we first propose a concept of quantitative windows to describe the ro... |
Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry | https://ieeexplore.ieee.org/document/10610157/ | [
"Haolong Li",
"Joerg Stueckler",
"Haolong Li",
"Joerg Stueckler"
] | Wheeled mobile robots need the ability to estimate their motion and the effect of their control actions for navigation planning. In this paper, we present ST-VIO, a novel approach which tightly fuses a single-track dynamics model for wheeled ground vehicles with visual-inertial odometry (VIO). Our method calibrates and adapts the dynamics model online to improve the accuracy of forward prediction ... |
Square-Root Inverse Filter-based GNSS-Visual-Inertial Navigation | https://ieeexplore.ieee.org/document/10611666/ | [
"Jun Hu",
"Xiaoming Lang",
"Feng Zhang",
"Yinian Mao",
"Guoquan Huang",
"Jun Hu",
"Xiaoming Lang",
"Feng Zhang",
"Yinian Mao",
"Guoquan Huang"
] | While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial Navigation System (GVINS) that fuses visual, inertial, and raw GNSS measurements within the square-root inverse sliding window filtering (SRI-SWF) framework in a tigh... |
Omnidirectional Dense SLAM for Back-to-back Fisheye Cameras | https://ieeexplore.ieee.org/document/10610351/ | [
"Weijian Xie",
"Guanyi Chu",
"Quanhao Qian",
"Yihao Yu",
"Shangjin Zhai",
"Danpeng Chen",
"Nan Wang",
"Hujun Bao",
"Guofeng Zhangv",
"Weijian Xie",
"Guanyi Chu",
"Quanhao Qian",
"Yihao Yu",
"Shangjin Zhai",
"Danpeng Chen",
"Nan Wang",
"Hujun Bao",
"Guofeng Zhangv"
] | We propose a real-time visual-inertial dense SLAM system that utilizes the online data streams from back-to-back dual fisheye cameras setup, providing 360◦ coverage of the environment. Firstly, we employ a sliding-window-based front-end to estimate real-time poses from the binocular fisheye images and IMU data. Then, we implement a lightweight panoramic depth completion network based on multi-basi... |
Visual Inertial Odometry using Focal Plane Binary Features (BIT-VIO) | https://ieeexplore.ieee.org/document/10610838/ | [
"Matthew Lisondra",
"Junseo Kim",
"Riku Murai",
"Kourosh Zareinia",
"Sajad Saeedi",
"Matthew Lisondra",
"Junseo Kim",
"Riku Murai",
"Kourosh Zareinia",
"Sajad Saeedi"
] | Focal-Plane Sensor-Processor Arrays (FPSP)s are an emerging technology that can execute vision algorithms directly on the image sensor. Unlike conventional cameras, FPSPs perform computation on the image plane – at individual pixels – enabling high frame rate image processing while consuming low power, making them ideal for mobile robotics. FPSPs, such as the SCAMP-5, use parallel processing and a... |
JacobiGPU: GPU-Accelerated Numerical Differentiation for Loop Closure in Visual SLAM | https://ieeexplore.ieee.org/document/10611512/ | [
"Dhruv Kumar",
"Shishir Gopinath",
"Karthik Dantu",
"Steven Y. Ko",
"Dhruv Kumar",
"Shishir Gopinath",
"Karthik Dantu",
"Steven Y. Ko"
] | In this paper, we introduce JacobiGPU, a technique that uses a GPU to improve the efficiency of loop closure in visual-inertial SLAM systems, particularly when approximating Jacobians using the Finite Difference Method (FDM). Traditional FDM techniques often face computational overhead due to repeated perturbations in pose graphs. We address this overhead with a novel methodology, leveraging strat... |
MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration | https://ieeexplore.ieee.org/document/10609982/ | [
"Yifu Wang",
"Yonhon Ng",
"Inkyu Sa",
"Álvaro Parra",
"Cristian Rodriguez-Opazo",
"Taojun Lin",
"Hongdong Li",
"Yifu Wang",
"Yonhon Ng",
"Inkyu Sa",
"Álvaro Parra",
"Cristian Rodriguez-Opazo",
"Taojun Lin",
"Hongdong Li"
] | We present a novel optimization-based Visual-Inertial SLAM system designed for multiple partially over-lapped camera systems, named MAVIS. Our framework fully exploits the benefits of wide field-of-view from multi-camera systems, and the metric scale measurements provided by an inertial measurement unit (IMU). We introduce an improved IMU pre-integration formulation based on the exponential functi... |
Salience-guided Ground Factor for Robust Localization of Delivery Robots in Complex Urban Environments | https://ieeexplore.ieee.org/document/10611696/ | [
"Jooyong Park",
"Jungwoo Lee",
"Euncheol Choi",
"Younggun Cho",
"Jooyong Park",
"Jungwoo Lee",
"Euncheol Choi",
"Younggun Cho"
] | In urban environments for delivery robots, particularly in areas such as campuses and towns, many custom features defy standard road semantic categorizations. Addressing this challenge, our paper introduces a method leveraging Salient Object Detection (SOD) to extract these unique features, employing them as pivotal factors for enhanced robot loop closure and localization. Traditional geometric fe... |
Block-Map-Based Localization in Large-Scale Environment | https://ieeexplore.ieee.org/document/10610122/ | [
"Yixiao Feng",
"Zhou Jiang",
"Yongliang Shi",
"Yunlong Feng",
"Xiangyu Chen",
"Hao Zhao",
"Guyue Zhou",
"Yixiao Feng",
"Zhou Jiang",
"Yongliang Shi",
"Yunlong Feng",
"Xiangyu Chen",
"Hao Zhao",
"Guyue Zhou"
] | Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will affect downstream tasks such as robot navigation and services. To this end, we propose a localization system based on Block Maps (BMs) to reduce the computational l... |
Subsurface Feature-based Ground Robot/Vehicle Localization Using a Ground Penetrating Radar | https://ieeexplore.ieee.org/document/10611579/ | [
"Haifeng Li",
"Jiajun Guo",
"Dezhen Song",
"Haifeng Li",
"Jiajun Guo",
"Dezhen Song"
] | Robot localization using subsurface features captured by Ground-Penetrating Radar (GPR) complements and improves robustness over existing common sensor modalities, as subsurface features are less sensitive to weather, season and surface scene changes. Here, we propose a novel subsurface feature-based localization method that uses only GPR measurements with a known subsurface map. An efficient feat... |
Colmap-PCD: An Open-source Tool for Fine Image-to-point cloud Registration | https://ieeexplore.ieee.org/document/10611582/ | [
"Chunge Bai",
"Ruijie Fu",
"Xiang Gao",
"Chunge Bai",
"Ruijie Fu",
"Xiang Gao"
] | State-of-the-art techniques for monocular camera reconstruction predominantly rely on the Structure from Motion (SfM) pipeline. However, such methods often yield reconstruction outcomes that lack crucial scale information, and over time, accumulation of images leads to inevitable drift issues. In contrast, mapping methods based on LiDAR scans are popular in large-scale urban scene reconstruction d... |
COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry | https://ieeexplore.ieee.org/document/10610938/ | [
"Patrick Pfreundschuh",
"Helen Oleynikova",
"Cesar Cadena",
"Roland Siegwart",
"Olov Andersson",
"Patrick Pfreundschuh",
"Helen Oleynikova",
"Cesar Cadena",
"Roland Siegwart",
"Olov Andersson"
] | We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in geometrically degenerate scenarios, like tunnels or flat fields. We project LiDAR intensity returns into an image, and present a novel image processing pipeline th... |
MegaParticles: Range-based 6-DoF Monte Carlo Localization with GPU-Accelerated Stein Particle Filter | https://ieeexplore.ieee.org/document/10610447/ | [
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno",
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno"
] | This paper presents a 6-DoF range-based Monte Carlo localization method with a GPU-accelerated Stein particle filter. To update a massive amount of particles, we propose a Gauss-Newton-based Stein variational gradient descent (SVGD) with iterative neighbor particle search. This method uses SVGD to collectively update particle states with gradient and neighborhood information, which provides effici... |
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization | https://ieeexplore.ieee.org/document/10611195/ | [
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno",
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno"
] | This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph. The tight coupling of the scan-to-scan and scan-to-map registration factors enables a smooth fusion of sensor ego-motion estimation and map-based trajectory corre... |
SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints | https://ieeexplore.ieee.org/document/10610293/ | [
"Spencer Carmichael",
"Rahul Agrawal",
"Ram Vasudevan",
"Katherine A. Skinner",
"Spencer Carmichael",
"Rahul Agrawal",
"Ram Vasudevan",
"Katherine A. Skinner"
] | Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree rotations, has proven to be challenging to achieve. To address this problem, this paper presents Same Place Opposing Trajectory (SPOT), a technique for opposing vie... |
An Onboard Framework for Staircases Modeling Based on Point Clouds | https://ieeexplore.ieee.org/document/10610407/ | [
"Chun Qing",
"Rongxiang Zeng",
"Xuan Wu",
"Yongliang Shi",
"Gan Ma",
"Chun Qing",
"Rongxiang Zeng",
"Xuan Wu",
"Yongliang Shi",
"Gan Ma"
] | The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework tailored to the detection of traversable regions and the modeling of physical attributes of staircases by point cloud data. To mitigate the influence of illumination variations and the overfitting due to the dataset dive... |
V-STRONG: Visual Self-Supervised Traversability Learning for Off-road Navigation | https://ieeexplore.ieee.org/document/10611227/ | [
"Sanghun Jung",
"JoonHo Lee",
"Xiangyun Meng",
"Byron Boots",
"Alexander Lambert",
"Sanghun Jung",
"JoonHo Lee",
"Xiangyun Meng",
"Byron Boots",
"Alexander Lambert"
] | Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised learning approaches remain limited in their generalization ability. To this end, we introduce a novel, image-based self-supervised learning method for traversability... |
Follow the Footprints: Self-supervised Traversability Estimation for Off-road Vehicle Navigation based on Geometric and Visual Cues | https://ieeexplore.ieee.org/document/10611198/ | [
"Yurim Jeon",
"E In Son",
"Seung-Woo Seo",
"Yurim Jeon",
"E In Son",
"Seung-Woo Seo"
] | In this study, we address the off-road traversability estimation problem, that predicts areas where a robot can navigate in off-road environments. An off-road environment is an unstructured environment comprising a combination of traversable and non-traversable spaces, which presents a challenge for estimating traversability. This study highlights three primary factors that affect a robot’s traver... |
TSCM: A Teacher-Student Model for Vision Place Recognition Using Cross-Metric Knowledge Distillation | https://ieeexplore.ieee.org/document/10611612/ | [
"Yehui Shen",
"Mingmin Liu",
"Huimin Lu",
"Xieyuanli Chen",
"Yehui Shen",
"Mingmin Liu",
"Huimin Lu",
"Xieyuanli Chen"
] | Visual place recognition (VPR) plays a pivotal role in autonomous exploration and navigation of mobile robots within complex outdoor environments. While cost-effective and easily deployed, camera sensors are sensitive to lighting and weather changes, and even slight image alterations can greatly affect VPR efficiency and precision. Existing methods overcome this by exploiting powerful yet large ne... |
3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm | https://ieeexplore.ieee.org/document/10610810/ | [
"Koki Aoki",
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno",
"Junichi Meguro",
"Koki Aoki",
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno",
"Junichi Meguro"
] | This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branchand-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for storing hierarchical 3D voxel maps. To improve the processing cost of BBS in 3D space, we propose an efficient roto-translational space branching. Furthermore, we devi... |
DynaInsRemover: A Real-time Dynamic Instance-Aware Static 3D LiDAR Mapping Framework for Dynamic Environment | https://ieeexplore.ieee.org/document/10610211/ | [
"Huanfeng Zhao",
"Meibao Yao",
"Xueming Xiao",
"Bo Zheng",
"Huanfeng Zhao",
"Meibao Yao",
"Xueming Xiao",
"Bo Zheng"
] | Dynamic objects diversify the distribution of point cloud in the map, degrading the performance of the robotic downstream tasks. To address this problem, we present a novel real-time dynamic instance-aware static mapping framework called DynaInsRemover, which exploits the geometric discrepancies between instances to efficiently remove dynamic objects and preserve more details of static map. It con... |
Efficient 3D Instance Mapping and Localization with Neural Fields | https://ieeexplore.ieee.org/document/10611715/ | [
"George Tang",
"Krishna Murthy Jatavallabhula",
"Antonio Torralba",
"George Tang",
"Krishna Murthy Jatavallabhula",
"Antonio Torralba"
] | We tackle the problem of learning an implicit scene representation for 3D instance segmentation from a sequence of posed RGB images. Towards this, we introduce 3DIML, a novel framework that efficiently learns a label field that may be rendered from novel viewpoints to produce view-consistent instance segmentation masks. 3DIML significantly improves upon training and inference runtimes of existing ... |
Amortized Inference for Efficient Grasp Model Adaptation | https://ieeexplore.ieee.org/document/10610789/ | [
"Michael Noseworthy",
"Seiji Shaw",
"Chad C. Kessens",
"Nicholas Roy",
"Michael Noseworthy",
"Seiji Shaw",
"Chad C. Kessens",
"Nicholas Roy"
] | In robotic applications such as bin-picking or block-stacking, learned predictive models have been developed for manipulation of objects with varying but known dynamic properties (e.g., mass distributions and friction coefficients). When a robot encounters a new object, these properties are often difficult to observe and must be inferred through interaction, which can be expensive in both inferenc... |
Learning Realistic and Reasonable Grasps for Anthropomorphic Hand in Cluttered Scenes | https://ieeexplore.ieee.org/document/10610646/ | [
"Haonan Duan",
"Yiming Li",
"Daheng Li",
"Wei Wei",
"Yayu Huang",
"Peng Wang",
"Haonan Duan",
"Yiming Li",
"Daheng Li",
"Wei Wei",
"Yayu Huang",
"Peng Wang"
] | Grasping is one of the most fundamental skills for humans to interact with objects. However, it remains a challenging problem for anthropomorphic hands, due to the lack of object affordance understanding and high-dimensional grasp planning. In this work, we propose an anthropomorphic hand grasping framework to learn realistic and reasonable grasps in cluttered scenes, which tackles the problem in ... |
FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object | https://ieeexplore.ieee.org/document/10611233/ | [
"Hanzhi Chen",
"Binbin Xu",
"Stefan Leutenegger",
"Hanzhi Chen",
"Binbin Xu",
"Stefan Leutenegger"
] | We present FuncGrasp, a framework that can infer dense yet reliable grasp configurations for unseen objects using one annotated object and single-view RGB-D observation via categorical priors. Unlike previous works that only transfer a set of grasp poses, FuncGrasp aims to transfer infinite configurations parameterized by an object-centric continuous grasp function across varying instances. To eas... |
Physical and Digital Adversarial Attacks on Grasp Quality Networks | https://ieeexplore.ieee.org/document/10610886/ | [
"Naif Wasel Alharthi",
"Martim Brandão",
"Naif Wasel Alharthi",
"Martim Brandão"
] | Grasp Quality Networks are important components of grasping-capable autonomous robots, as they allow them to evaluate grasp candidates and select the one with highest chance of success. The widespread use of pick-and-place robots and Grasp Quality Networks raises the question of whether such systems are vulnerable to adversarial attacks, as that could lead to large economic damage. In this paper w... |
Scaling Object-centric Robotic Manipulation with Multimodal Object Identification | https://ieeexplore.ieee.org/document/10611181/ | [
"Chaitanya Mitash",
"Mostafa Hussein",
"Jeroen Vanbaar",
"Vikedo Terhuja",
"Kapil Katyal",
"Chaitanya Mitash",
"Mostafa Hussein",
"Jeroen Vanbaar",
"Vikedo Terhuja",
"Kapil Katyal"
] | Robotic manipulation is a key enabler for automation in the fulfillment logistics sector. Such robotic systems require perception and manipulation capabilities to handle a wide variety of objects. Existing systems either operate on a closed set of objects or perform object-agnostic manipulation which lacks the capability for deliberate and reliable manipulation at scale. Object identification (ID)... |
A Force-Controlled Gripper Capable of Measuring Mechanical Properties of an Object | https://ieeexplore.ieee.org/document/10610496/ | [
"Yi-Shian Tsai",
"Pin-Chun Yeh",
"Chun-Hung Huang",
"I-Cheng Hsueh",
"Chao-Chieh Lan",
"Yi-Shian Tsai",
"Pin-Chun Yeh",
"Chun-Hung Huang",
"I-Cheng Hsueh",
"Chao-Chieh Lan"
] | Various sensorized grippers have been developed to handle delicate objects safely. These grippers have sensors mounted on their fingers’ surface that provide direct force measurements. However, multiple sensors are often required on one finger, leading to significant sensor placement and wire routing complexity. Finger-based sensors are limited to sensing external gripping force, and fingers canno... |
Accelerating Robotic Picking of Rigid Objects with a Compliant Pneumatic Gripper and an Impact-Aware Trajectory Plan | https://ieeexplore.ieee.org/document/10611505/ | [
"Frederik Ostyn",
"Bram Vanderborght",
"Guillaume Crevecoeur",
"Frederik Ostyn",
"Bram Vanderborght",
"Guillaume Crevecoeur"
] | Industrial robots are capable of moving at high speed. Each time they come into contact with their environment, e.g. to pick up an object, they decelerate to a near standstill. A solution involving a compliant pneumatic gripper and adapted trajectory plan is presented to initiate contact at a higher speed while remaining within hardware limits. By adding overload clutches in either the robot arm o... |
Vertical Vibratory Transport of Grasped Parts Using Impacts | https://ieeexplore.ieee.org/document/10610769/ | [
"C. L. Yako",
"Jérôme Nowak",
"Shenli Yuan",
"Kenneth Salisbury",
"C. L. Yako",
"Jérôme Nowak",
"Shenli Yuan",
"Kenneth Salisbury"
] | In this paper, we use impact-induced acceleration in conjunction with periodic stick-slip to successfully and quickly transport parts vertically against gravity. We show analytically that vertical vibratory transport is more difficult than its horizontal counterpart, and provide guidelines for achieving optimal vertical vibratory transport of a part. Namely, such a system must be capable of quickl... |
Bionic Soft Fingers with Hybrid Variable Stiffness Mechanisms for Multimode Grasping | https://ieeexplore.ieee.org/document/10611680/ | [
"Xiangbo Wang",
"Tianran Zhang",
"Hongze Yu",
"Zhenwei Wen",
"Lide Fang",
"Huaping Liu",
"Fuchun Sun",
"Lixue Tang",
"Bin Fang",
"Xiangbo Wang",
"Tianran Zhang",
"Hongze Yu",
"Zhenwei Wen",
"Lide Fang",
"Huaping Liu",
"Fuchun Sun",
"Lixue Tang",
"Bin Fang"
] | This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angl... |
Design and Fabrication of a Novel Miniature Magnetic Gripper | https://ieeexplore.ieee.org/document/10611688/ | [
"Mengde Li",
"Fuqiang Zhao",
"Xiangli Li",
"Mingchang Li",
"Sheng Liu",
"Miao Li",
"Mengde Li",
"Fuqiang Zhao",
"Xiangli Li",
"Mingchang Li",
"Sheng Liu",
"Miao Li"
] | Small-scale robots hold significant promise in the field of minimally invasive surgery (MIS). In this paper, we present a miniature magnetic gripper and develop a data-driven kinematic model. The gripper comprises four fingers, wherein each finger has a maximum size not exceeding 3mm, 4mm and 5.5mm in three dimensions. By integrating permanent magnets and elastic ropes as internal actuation elemen... |
Design of Highly Repeatable and Multi-Functional Grippers for Precision Handling with Articulated Robots | https://ieeexplore.ieee.org/document/10611540/ | [
"Philip Gümbel",
"Klaus Dröder",
"Philip Gümbel",
"Klaus Dröder"
] | This paper presents a novel approach to designing, a low-cost gripper that is highly repeatable and functionally integrated. The gripper is optimized to compensate for gripping errors with particular consideration to potential challenges of articulated robots. The primary design goal is to achieve maximum repeatability during the gripping and releasing stages of a pick-and-place process for a chip... |
Generalized Partially Destructive Disassembly Planning for Robotic Disassembly | https://ieeexplore.ieee.org/document/10610546/ | [
"Malte Hansjosten",
"Jan Baumgärtner",
"Jürgen Fleischer",
"Malte Hansjosten",
"Jan Baumgärtner",
"Jürgen Fleischer"
] | While robotic assembly is a well researched topic, recycling and disassembly of products are also becoming ever more important as we transition to a more sustainable economy. In disassembly, we are typically only interested in a subset of product parts, which opens the possibility of using destructive processes such as tearing, cutting, or milling to speed up the disassembly. Currently, such destr... |
IFFNeRF: Initialisation Free and Fast 6DoF pose estimation from a single image and a NeRF model | https://ieeexplore.ieee.org/document/10610425/ | [
"Matteo Bortolon",
"Theodore Tsesmelis",
"Stuart James",
"Fabio Poiesi",
"Alessio Del Bue",
"Matteo Bortolon",
"Theodore Tsesmelis",
"Stuart James",
"Fabio Poiesi",
"Alessio Del Bue"
] | We introduce IFFNeRF to estimate the six degrees-of-freedom (6DoF) camera pose of a given image, building on the Neural Radiance Fields (NeRF) formulation. IFFNeRF is specifically designed to operate in real-time and eliminates the need for an initial pose guess that is proximate to the sought solution. IFFNeRF utilizes the Metropolis-Hasting algorithm to sample surface points from within the NeRF... |
VeloVox: A Low-Cost and Accurate 4D Object Detector with Single-Frame Point Cloud of Livox LiDAR | https://ieeexplore.ieee.org/document/10610427/ | [
"Tao Ma",
"Zhiwei Zheng",
"Hongbin Zhou",
"Xinyu Cai",
"Xuemeng Yang",
"Yikang Li",
"Botian Shi",
"Hongsheng Li",
"Tao Ma",
"Zhiwei Zheng",
"Hongbin Zhou",
"Xinyu Cai",
"Xuemeng Yang",
"Yikang Li",
"Botian Shi",
"Hongsheng Li"
] | Combining motion prediction in LiDAR-based 3D object detection is an effective method for improving overall accuracy, especially the downstream autonomous driving tasks. The recent development of low-cost LiDARs (e.g. Livox LiDAR) enables us to explore such 4D perception systems with a lower budget and higher performance. In this paper, we propose a 4D object detector, VeloVox, to establish accura... |
MTRadSSD: A Multi-Task Single-Stage Detector for Object Detection and Free Space Analysis in Radar Point Clouds* | https://ieeexplore.ieee.org/document/10611324/ | [
"Yinbao Li",
"Songshan Yu",
"Dongfeng Wang",
"Jingen Jiao",
"Yinbao Li",
"Songshan Yu",
"Dongfeng Wang",
"Jingen Jiao"
] | Environmental perception tasks such as object detection and free space detection based on 3+1D radar severely suffer from the disorder and sparsity of point cloud. To tackle this problem, we propose a novel Multi-Task Radar-based Single Stage Detector, termed MTRadSSD, where we adopt instance-aware sampling strategies to discover multi-class road users and propose an occupancy map tool based on ke... |
Toward Accurate Camera-based 3D Object Detection via Cascade Depth Estimation and Calibration | https://ieeexplore.ieee.org/document/10610281/ | [
"Chaoqun Wang",
"Yiran Qin",
"Zijian Kang",
"Ningning Ma",
"Ruimao Zhang",
"Chaoqun Wang",
"Yiran Qin",
"Zijian Kang",
"Ningning Ma",
"Ruimao Zhang"
] | Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem of camera-based 3D object detection: How to effectively learn depth information for accurate feature lifting and object localization. Different from previous met... |
DA-RAW: Domain Adaptive Object Detection for Real-World Adverse Weather Conditions | https://ieeexplore.ieee.org/document/10611219/ | [
"Minsik Jeon",
"Junwon Seo",
"Jihong Min",
"Minsik Jeon",
"Junwon Seo",
"Jihong Min"
] | Despite the success of deep learning-based object detection methods in recent years, it is still challenging to make the object detector reliable in adverse weather conditions such as rain and snow. For the robust performance of object detectors, unsupervised domain adaptation has been utilized to adapt the detection network trained on clear weather images to adverse weather images. While previous... |
Mutual Information-calibrated Conformal Feature Fusion for Uncertainty-Aware Multimodal 3D Object Detection at the Edge | https://ieeexplore.ieee.org/document/10609987/ | [
"Alex C. Stutts",
"Danilo Erricolo",
"Sathya Ravi",
"Theja Tulabandhula",
"Amit Ranjan Trivedi",
"Alex C. Stutts",
"Danilo Erricolo",
"Sathya Ravi",
"Theja Tulabandhula",
"Amit Ranjan Trivedi"
] | In the expanding landscape of AI-enabled robotics, robust quantification of predictive uncertainties is of great importance. Three-dimensional (3D) object detection, a critical robotics operation, has seen significant advancements; however, the majority of current works focus only on accuracy and ignore uncertainty quantification. Addressing this gap, our novel study integrates the principles of c... |
RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recovery | https://ieeexplore.ieee.org/document/10611723/ | [
"Jiaxin Wei",
"Xibin Song",
"Weizhe Liu",
"Laurent Kneip",
"Hongdong Li",
"Pan Ji",
"Jiaxin Wei",
"Xibin Song",
"Weizhe Liu",
"Laurent Kneip",
"Hongdong Li",
"Pan Ji"
] | While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet suffer from inherent scale ambiguity stemming from monocular observations. In this paper, we propose a novel pipeline that decouples the 6D pose and size estimati... |
Implicit Coarse-to-Fine 3D Perception for Category-level Object Pose Estimation from Monocular RGB Image | https://ieeexplore.ieee.org/document/10610570/ | [
"Jia Li",
"Li Jin",
"Xibin Song",
"Yeheng Chen",
"Nan Li",
"Xueying Qin",
"Jia Li",
"Li Jin",
"Xibin Song",
"Yeheng Chen",
"Nan Li",
"Xueying Qin"
] | Category-level object pose estimation demonstrates robust generalization capabilities that benefit robotics applications. However, exclusive reliance on RGB images without leveraging any 3D information introduces ambiguity in the translation and size of objects, leading to suboptimal performance. In this paper, we propose a framework for category-level pose estimation from a single RGB image in an... |
Vision-Language Interpreter for Robot Task Planning | https://ieeexplore.ieee.org/document/10611112/ | [
"Keisuke Shirai",
"Cristian C. Beltran-Hernandez",
"Masashi Hamaya",
"Atsushi Hashimoto",
"Shohei Tanaka",
"Kento Kawaharazuka",
"Kazutoshi Tanaka",
"Yoshitaka Ushiku",
"Shinsuke Mori",
"Keisuke Shirai",
"Cristian C. Beltran-Hernandez",
"Masashi Hamaya",
"Atsushi Hashimoto",
"Shohei Tanaka",
"Kento Kawaharazuka",
"Kazutoshi Tanaka",
"Yoshitaka Ushiku",
"Shinsuke Mori"
] | Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper proposes a new task that bridges these two trends, namely, multimodal planning problem specification. The aim is to generate a problem description (PD), a machine-readable file used by the planners to find a plan. By gener... |
Trust-Region Neural Moving Horizon Estimation for Robots | https://ieeexplore.ieee.org/document/10611703/ | [
"Bingheng Wang",
"Xuyang Chen",
"Lin Zhao",
"Bingheng Wang",
"Xuyang Chen",
"Lin Zhao"
] | Accurate disturbance estimation is essential for safe robot operations. The recently proposed neural moving horizon estimation (NeuroMHE), which uses a portable neural network to model the MHE’s weightings, has shown promise in further pushing the accuracy and efficiency boundary. Currently, NeuroMHE is trained through gradient descent, with its gradient computed recursively using a Kalman filter.... |
Kinematic-aware Prompting for Generalizable Articulated Object Manipulation with LLMs | https://ieeexplore.ieee.org/document/10610744/ | [
"Wenke Xia",
"Dong Wang",
"Xincheng Pang",
"Zhigang Wang",
"Bin Zhao",
"Di Hu",
"Xuelong Li",
"Wenke Xia",
"Dong Wang",
"Xincheng Pang",
"Zhigang Wang",
"Bin Zhao",
"Di Hu",
"Xuelong Li"
] | Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of real-world data collection and precise object simulation, it still remains challenging for these works to achieve broad adaptability across diverse articulated objects. ... |
ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning | https://ieeexplore.ieee.org/document/10610065/ | [
"Zhehua Zhou",
"Jiayang Song",
"Kunpeng Yao",
"Zhan Shu",
"Lei Ma",
"Zhehua Zhou",
"Jiayang Song",
"Kunpeng Yao",
"Zhan Shu",
"Lei Ma"
] | Motivated by the substantial achievements of Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential task planning challenges in robotics. LLMs are advantageous in offering the potential to enhance the generalizability as task-agnostic planners and facilitate flexible in... |
Efficient Hybrid Neuromorphic-Bayesian Model for Olfaction Sensing: Detection and Classification | https://ieeexplore.ieee.org/document/10611648/ | [
"Rizwana Kausar",
"Fakhreddine Zayer",
"Jaime Viegas",
"Jorge Dias",
"Rizwana Kausar",
"Fakhreddine Zayer",
"Jaime Viegas",
"Jorge Dias"
] | Olfaction sensing in autonomous robotics faces challenges in dynamic operations, energy efficiency, and edge processing. It necessitates a machine learning algorithm capable of managing real-world odor interference, ensuring resource efficiency for mobile robotics, and accurately estimating gas features for critical tasks such as odor mapping, localization, and alarm generation. This paper introdu... |
DeFlow: Decoder of Scene Flow Network in Autonomous Driving | https://ieeexplore.ieee.org/document/10610278/ | [
"Qingwen Zhang",
"Yi Yang",
"Heng Fang",
"Ruoyu Geng",
"Patric Jensfelt",
"Qingwen Zhang",
"Yi Yang",
"Heng Fang",
"Ruoyu Geng",
"Patric Jensfelt"
] | Scene flow estimation determines a scene’s 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create a pseudo-image for real-time running. However, the voxelization process often results in the loss of point-specific features. This gives rise to a challenge in ... |
Subequivariant Reinforcement Learning Framework for Coordinated Motion Control | https://ieeexplore.ieee.org/document/10610563/ | [
"Haoyu Wang",
"Xiaoyu Tan",
"Xihe Qiu",
"Chao Qu",
"Haoyu Wang",
"Xiaoyu Tan",
"Xihe Qiu",
"Chao Qu"
] | Effective coordination is crucial for motion control with reinforcement learning, especially as the complexity of agents and their motions increases. However, many existing methods struggle to account for the intricate dependencies between joints. We introduce CoordiGraph, a novel architecture that leverages subequivariant principles from physics to enhance coordination of motion control with rein... |
A Large-scale Suction-based Climbing Parallel Robot for Wall Painting Application | https://ieeexplore.ieee.org/document/10610067/ | [
"Abdur Rosyid",
"Bashar El-Khasawneh",
"Abdur Rosyid",
"Bashar El-Khasawneh"
] | This paper presents a large-scale climbing robot that employs a parallel mechanism with three translational degrees of freedom as its locomotion method. Using a robot frame having a triangular pyramid shape, the robot provides a good stability during the locomotion and task execution. Three suction cups, called the perimeter cups, are attached to the vertices of the robot’s pyramid base, whereas t... |
A Collision-Aware Cable Grasping Method in Cluttered Environment | https://ieeexplore.ieee.org/document/10610559/ | [
"Lei Zhang",
"Kaixin Bai",
"Qiang Li",
"Zhaopeng Chen",
"Jianwei Zhang",
"Lei Zhang",
"Kaixin Bai",
"Qiang Li",
"Zhaopeng Chen",
"Jianwei Zhang"
] | We introduce a Cable Grasping-Convolutional Neural Network (CG-CNN) designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable grasping, factoring in potential collisions between cables and robotic grippers. We employ the Approximate Convex Decomposition technique to dissect the non-co... |
A Simple Computationally Efficient Path ILC for Industrial Robotic Manipulators | https://ieeexplore.ieee.org/document/10610623/ | [
"Michael Schwegel",
"Andreas Kugi",
"Michael Schwegel",
"Andreas Kugi"
] | In this paper, a numerically efficient flexible control scheme for the absolute accuracy of industrial robots is presented and experimentally validated. A model-based controller that leverages all typically available parameters is combined with an online path iterative learning controller (ILC). The ILC law is employed to compensate for the unknown residual error dynamics caused by elastic and tra... |
RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots | https://ieeexplore.ieee.org/document/10611143/ | [
"Benjamin Alt",
"Florian Stöckl",
"Silvan Müller",
"Christopher Braun",
"Julian Raible",
"Saad Alhasan",
"Oliver Rettig",
"Lukas Ringle",
"Darko Katic",
"Rainer Jäkel",
"Michael Beetz",
"Marcus Strand",
"Marco F. Huber",
"Benjamin Alt",
"Florian Stöckl",
"Silvan Müller",
"Christopher Braun",
"Julian Raible",
"Saad Alhasan",
"Oliver Rettig",
"Lukas Ringle",
"Darko Katic",
"Rainer Jäkel",
"Michael Beetz",
"Marcus Strand",
"Marco F. Huber"
] | Surface treatment tasks such as grinding, sanding or polishing are a vital step of the value chain in many industries, but are notoriously challenging to automate. We present RoboGrind, an integrated system for the intuitive, interactive automation of surface treatment tasks with industrial robots. It combines a sophisticated 3D perception pipeline for surface scanning and automatic defect identif... |