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Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models | https://ieeexplore.ieee.org/document/10610240/ | [
"Yixuan Huang",
"Jialin Yuan",
"Chanho Kim",
"Pupul Pradhan",
"Bryan Chen",
"Li Fuxin",
"Tucker Hermans",
"Yixuan Huang",
"Jialin Yuan",
"Chanho Kim",
"Pupul Pradhan",
"Bryan Chen",
"Li Fuxin",
"Tucker Hermans"
] | Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and planning framework. We propose DOOM and LOOM, which leverage transformer relational dynamics to encode the history of trajectories given partial-view point clouds ... |
Learning Fabric Manipulation in the Real World with Human Videos | https://ieeexplore.ieee.org/document/10610062/ | [
"Robert Lee",
"Jad Abou-Chakra",
"Fangyi Zhang",
"Peter Corke",
"Robert Lee",
"Jad Abou-Chakra",
"Fangyi Zhang",
"Peter Corke"
] | Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most prior methods however rely heavily on simulation, which is still limited by the large sim-to-real gap of deformable objects or rely on large datasets. A promising a... |
HAGrasp: Hybrid Action Grasp Control in Cluttered Scenes using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10610852/ | [
"Kai-Tai Song",
"Hsiang-Hsi Chen",
"Kai-Tai Song",
"Hsiang-Hsi Chen"
] | Robotic autonomous grasp requires the system to perform multiple functions such as gripper and robot control, making it a task with hybrid output nature. Existing methods based on closed-loop deep reinforcement learning rely on external models for termination evaluation. To achieve more effective grasp for novel objects, we propose a new autonomous grasp control scheme termed HAGrasp that consider... |
Dual-Critic Deep Reinforcement Learning for Push-Grasping Synergy in Cluttered Environment | https://ieeexplore.ieee.org/document/10610121/ | [
"Jiakang Zhong",
"Yew Wee Wong",
"Jiong Jin",
"Yong Song",
"Xianfeng Yuan",
"Xiaoqi Chen",
"Jiakang Zhong",
"Yew Wee Wong",
"Jiong Jin",
"Yong Song",
"Xianfeng Yuan",
"Xiaoqi Chen"
] | Robotic push-grasping in densely cluttered environments presents significant challenges due to unbalanced synergy and redundancy between both actions, leading to decreased grasp efficiency. In this paper, a novel double-critic deep reinforcement learning framework is introduced to optimize the push-grasping synergy for robotic manipulation in such environments, aiming to significantly reduce pre-g... |
DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation | https://ieeexplore.ieee.org/document/10610109/ | [
"Bao Thach",
"Tanner Watts",
"Shing-Hei Ho",
"Tucker Hermans",
"Alan Kuntz",
"Bao Thach",
"Tanner Watts",
"Shing-Hei Ho",
"Tucker Hermans",
"Alan Kuntz"
] | Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal has been obtained either by a laborious domain knowledge engineering process or by manually manipulating the object into the desired shape and capturing the goal... |
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation | https://ieeexplore.ieee.org/document/10611331/ | [
"Annie Xie",
"Lisa Lee",
"Ted Xiao",
"Chelsea Finn",
"Annie Xie",
"Lisa Lee",
"Ted Xiao",
"Chelsea Finn"
] | What makes generalization hard for imitation learning in visual robotic manipulation? This question is difficult to approach at face value, but the environment from the perspective of a robot can often be decomposed into enumerable factors of variation, such as the lighting conditions or the placement of the camera. Empirically, generalization to some of these factors have presented a greater obst... |
Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction | https://ieeexplore.ieee.org/document/10611211/ | [
"Alessia Fusco",
"Valerio Modugno",
"Dimitrios Kanoulas",
"Alessandro Rizzo",
"Marco Cognetti",
"Alessia Fusco",
"Valerio Modugno",
"Dimitrios Kanoulas",
"Alessandro Rizzo",
"Marco Cognetti"
] | In this paper, we propose a transformer-based architecture for predicting contact forces during a physical human-robot interaction. Our Neural Network is composed of two main parts: a Multi-Layer Perceptron called Transducer and a Transformer. The former estimates, based on the kinematic data from a motion capture suit, the current contact forces. The latter predicts – taking as input the same kin... |
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers | https://ieeexplore.ieee.org/document/10610694/ | [
"Sammy Christen",
"Lan Feng",
"Wei Yang",
"Yu-Wei Chao",
"Otmar Hilliges",
"Jie Song",
"Sammy Christen",
"Lan Feng",
"Wei Yang",
"Yu-Wei Chao",
"Otmar Hilliges",
"Jie Song"
] | Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies can later be transferred to the real world. However, a major bottleneck is the reliance on human motion capture data, which is expensive to acquire and difficu... |
Proactive Robot Control for Collaborative Manipulation Using Human Intent | https://ieeexplore.ieee.org/document/10610909/ | [
"Zhanibek Rysbek",
"Siyu Li",
"Afagh Mehri Shervedani",
"Miloš Žefran",
"Zhanibek Rysbek",
"Siyu Li",
"Afagh Mehri Shervedani",
"Miloš Žefran"
] | Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This work is motivated by the ability of humans to communicate the desired destination of motion through back-and-forth force exchanges. Inherent to these exchanges... |
Exploring Transformers and Visual Transformers for Force Prediction in Human-Robot Collaborative Transportation Tasks | https://ieeexplore.ieee.org/document/10611205/ | [
"J. E. Domínguez-Vidal",
"Alberto Sanfeliu",
"J. E. Domínguez-Vidal",
"Alberto Sanfeliu"
] | In this paper, we analyze the possibilities offered by Deep Learning State-of-the-Art architectures such as Transformers and Visual Transformers in generating a prediction of the human’s force in a Human-Robot collaborative object transportation task at a middle distance. We outperform our previous predictor by achieving a success rate of 93.8% in testset and 90.9% in real experiments with 21 volu... |
Exploring the Effect of Base Compliance on Physical Human-Robot Collaboration | https://ieeexplore.ieee.org/document/10611559/ | [
"Ziqi Wang",
"Marc G Carmichael",
"Ziqi Wang",
"Marc G Carmichael"
] | Mobile physical human-robot collaboration (pHRC) using collaborative robots (cobots) and mobile robots has attracted much research attention. Many researchers have focused on improving the control performance to comply with human intentions. However, a problem that generally exists with mobile pHRC but often gets neglected is the impact of non-rigid components e.g. deformable tyres, suspension sys... |
A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER) | https://ieeexplore.ieee.org/document/10611368/ | [
"Andrea Fortuna",
"Marta Lorenzini",
"Mattia Leonori",
"Juan M. Gandarias",
"Pietro Balatti",
"Younggeol Cho",
"Elena De Momi",
"Arash Ajoudani",
"Andrea Fortuna",
"Marta Lorenzini",
"Mattia Leonori",
"Juan M. Gandarias",
"Pietro Balatti",
"Younggeol Cho",
"Elena De Momi",
"Arash Ajoudani"
] | Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users’ stability or too bulky and poorly maneuverable to be used outside hospital environments. In addition, they all lack adaptability to individual requirements. To address these challenges, this pa... |
Ankle Exoskeleton with a Symmetric 3 DoF Structure for Plantarflexion Assistance | https://ieeexplore.ieee.org/document/10609991/ | [
"Miha Dežman",
"Charlotte Marquardt",
"Tamim Asfour",
"Miha Dežman",
"Charlotte Marquardt",
"Tamim Asfour"
] | Ankle exoskeletons can assist the ankle joint and reduce the metabolic cost of walking. However, many existing ankle exoskeletons constrain the natural 3 degrees of freedom (DoF) of the ankle to limit the exoskeleton’s weight and mechanical complexity, thereby compromising comfort and kinematic compatibility with the user.This paper presents a novel ankle exoskeleton frame design that allows for 3... |
Design of a Front-enveloping Powered Exoskeleton Considering Optimal Distribution of Actuating Torques and Center of Mass | https://ieeexplore.ieee.org/document/10610165/ | [
"Jeongsu Park",
"Kyeongsu Shi",
"Gunhee Lee",
"Hyojun An",
"Seunghwan Kim",
"Chanyoung Ko",
"Taeyeon Kim",
"Hyeongjun Kim",
"Kyoungchul Kong",
"Jeongsu Park",
"Kyeongsu Shi",
"Gunhee Lee",
"Hyojun An",
"Seunghwan Kim",
"Chanyoung Ko",
"Taeyeon Kim",
"Hyeongjun Kim",
"Kyoungchul Kong"
] | Traditionally, powered exoskeletons have predominantly featured a back-enveloping design due to its simplicity in both implementation and user donning. However, this design results in a backward shift of the center of mass (CoM) in the sagittal plane. This paper identifies the limitations of existing design approaches and determines the optimal anterior-posterior (A/P) CoM position considering fac... |
Real-Time Locomotion Transitions Detection: Maximizing Performances with Minimal Resources | https://ieeexplore.ieee.org/document/10611651/ | [
"Zeynep Özge Orhan",
"Andrea Dal Prete",
"Anastasia Bolotnikova",
"Marta Gandolla",
"Auke Ijspeert",
"Mohamed Bouri",
"Zeynep Özge Orhan",
"Andrea Dal Prete",
"Anastasia Bolotnikova",
"Marta Gandolla",
"Auke Ijspeert",
"Mohamed Bouri"
] | Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and descending, and sitting, is crucial for ensuring adaptive control and enhancing user experience. We present an approach for real-time transition detection, aimed at optim... |
ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy | https://ieeexplore.ieee.org/document/10610027/ | [
"Zeynep Özge Orhan",
"Milad Shafiee",
"Vincent Juillard",
"Joel Coelho Oliveira",
"Auke Ijspeert",
"Mohamed Bouri",
"Zeynep Özge Orhan",
"Milad Shafiee",
"Vincent Juillard",
"Joel Coelho Oliveira",
"Auke Ijspeert",
"Mohamed Bouri"
] | Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimization of step duration and position in response to external forces. We map the step duration and position to a human-like foot trajectory, which i... |
Pilot comparison of customized and generalized hip-knee-ankle exoskeleton torque profiles | https://ieeexplore.ieee.org/document/10611676/ | [
"Gwendolyn M. Bryan",
"Patrick W. Franks",
"Seungmoon Song",
"Steven H. Collins",
"Gwendolyn M. Bryan",
"Patrick W. Franks",
"Seungmoon Song",
"Steven H. Collins"
] | Optimized assistance patterns have produced the greatest exoskeleton benefits to energy expenditure of any strategy to date. This strategy may be effective due to the customization of the applied torque profiles to the user as well as the locomotion condition; however, it is currently unclear how sensitive participants are to their unique torque profile. To investigate, we applied previously optim... |
Task-space Control of a Powered Ankle Prosthesis | https://ieeexplore.ieee.org/document/10611270/ | [
"David J. Kelly",
"Ryan R. Posh",
"Patrick M. Wensing",
"David J. Kelly",
"Ryan R. Posh",
"Patrick M. Wensing"
] | Powered lower-limb prostheses have shown promise in helping individuals with amputation regain functionality that passive prostheses cannot provide. However, the best method for controlling these devices in coordination with their users is still an open research topic. While powered devices can replicate normative joint kinematics and kinetics, active control also holds the potential to shape syst... |
Towards Unified Interactive Visual Grounding in The Wild | https://ieeexplore.ieee.org/document/10611354/ | [
"Jie Xu",
"Hanbo Zhang",
"Qingyi Si",
"Yifeng Li",
"Xuguang Lan",
"Tao Kong",
"Jie Xu",
"Hanbo Zhang",
"Qingyi Si",
"Yifeng Li",
"Xuguang Lan",
"Tao Kong"
] | Interactive visual grounding in Human-Robot Interaction (HRI) is challenging yet practical due to the inevitable ambiguity in natural languages. It requires robots to disambiguate the user’s input by active information gathering. Previous approaches often rely on predefined templates to ask disambiguation questions, resulting in performance reduction in realistic interactive scenarios. In this pap... |
Think, Act, and Ask: Open-World Interactive Personalized Robot Navigation | https://ieeexplore.ieee.org/document/10610178/ | [
"Yinpei Dai",
"Run Peng",
"Sikai Li",
"Joyce Chai",
"Yinpei Dai",
"Run Peng",
"Sikai Li",
"Joyce Chai"
] | Zero-Shot Object Navigation (ZSON) enables agents to navigate towards open-vocabulary objects in unknown environments. The existing works of ZSON mainly focus on following individual instructions to find generic object classes, neglecting the utilization of natural language interaction and the complexities of identifying user-specific objects. To address these limitations, we introduce Zero-shot I... |
PROGrasp: Pragmatic Human-Robot Communication for Object Grasping | https://ieeexplore.ieee.org/document/10610543/ | [
"Gi-Cheon Kang",
"Junghyun Kim",
"Jaein Kim",
"Byoung-Tak Zhang",
"Gi-Cheon Kang",
"Junghyun Kim",
"Jaein Kim",
"Byoung-Tak Zhang"
] | Interactive Object Grasping (IOG) is the task of identifying and grasping the desired object via human-robot natural language interaction. Current IOG systems assume that a human user initially specifies the target object’s category (e.g., bottle). Inspired by pragmatics, where humans often convey their intentions by relying on context to achieve goals, we introduce a new IOG task, Pragmatic-IOG, ... |
Enhancing Tactile Sensing in Robotics: Dual-Modal Force and Shape Perception with EIT-based Sensors and MM-CNN | https://ieeexplore.ieee.org/document/10610215/ | [
"Haofeng Chen",
"Xuanxuan Yang",
"Gang Ma",
"Yucheng Wang",
"Xiaojie Wang",
"Haofeng Chen",
"Xuanxuan Yang",
"Gang Ma",
"Yucheng Wang",
"Xiaojie Wang"
] | Electrical Impedance Tomography (EIT)-based tactile sensors offer durability, scalability, and cost-effective manufacturing. However, simultaneously reconstructing force and shape from boundary measurements remains challenging due to EIT’s inherent location dependencies and image artifacts. This study presents a model-driven multimodal convolutional neural network (MM-CNN) for joint EIT-based forc... |
Assisting Group Discussions Using Desktop Robot Haru | https://ieeexplore.ieee.org/document/10611098/ | [
"Fei Tang",
"Chuanxiong Zheng",
"Hongqi Yu",
"Lei Zhang",
"Eric Nichols",
"Randy Gomez",
"Guangliang Li",
"Fei Tang",
"Chuanxiong Zheng",
"Hongqi Yu",
"Lei Zhang",
"Eric Nichols",
"Randy Gomez",
"Guangliang Li"
] | Socially assistive robots are potentially to be integrated with human daily lives in the near future, and expected to be able to improve group dynamics when interacting with groups of people in social settings. In this paper, we developed a system with desktop robot Haru to assist group discussions. The system consists of three modules: a dialogue assistance module which facilitates Haru to speak ... |
Assessment and Benchmarking of XoNLI: a Natural Language Processing Interface for Industrial Exoskeletons | https://ieeexplore.ieee.org/document/10610451/ | [
"Olmo A. Moreno F.",
"Raajshekhar Parameswari",
"Christian Di Natali",
"Darwin G. Caldwell",
"Jesus Ortiz",
"Olmo A. Moreno F.",
"Raajshekhar Parameswari",
"Christian Di Natali",
"Darwin G. Caldwell",
"Jesus Ortiz"
] | Industrial exoskeletons are a potential solution for reducing work-related musculoskeletal disorders during carrying or lifting tasks. Having sensors, electrical/pneumatic actuators, and control systems, active exoskeletons present a more versatile control system because it is possible to select different assistive strategies based on the performed task. From this perspective, human-machine intera... |
Advancing Virtual Reality Interaction: A Ring-Shaped Controller and Pose Tracking | https://ieeexplore.ieee.org/document/10610313/ | [
"Zhuqing Zhang",
"Dongxuan Li",
"Jiayao Ma",
"Yijia He",
"Pan Ji",
"Rong Xiong",
"Hongdong Li",
"Yue Wang",
"Zhuqing Zhang",
"Dongxuan Li",
"Jiayao Ma",
"Yijia He",
"Pan Ji",
"Rong Xiong",
"Hongdong Li",
"Yue Wang"
] | Ensuring robust tracking of controllers’ movement is critical for human-robot interaction in virtual reality (VR) scenarios. This paper proposes a robust tracking algorithm based on a novel wearable ring-shaped controller equipped with an inertial measurement unit (IMU) and a light-emitting diode (LED). This novel controller design allows users to free up their hands for more immersive experiences... |
Tactile Embeddings for Multi-Task Learning | https://ieeexplore.ieee.org/document/10611419/ | [
"Yiyue Luo",
"Murphy Wonsick",
"Jessica Hodgins",
"Brian Okorn",
"Yiyue Luo",
"Murphy Wonsick",
"Jessica Hodgins",
"Brian Okorn"
] | Tactile sensing plays a pivotal role in human perception and manipulation tasks, allowing us to intuitively understand task dynamics and adapt our actions in real time. Transferring such tactile intelligence to robotic systems would help intelligent agents understand task constraints and accurately interpret the dynamics of both the objects they are interacting with and their own operations. While... |
An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays | https://ieeexplore.ieee.org/document/10611599/ | [
"Eric T. Chang",
"Runsheng Wang",
"Peter Ballentine",
"Jingxi Xu",
"Trey Smith",
"Brian Coltin",
"Ioannis Kymissis",
"Matei Ciocarlie",
"Eric T. Chang",
"Runsheng Wang",
"Peter Ballentine",
"Jingxi Xu",
"Trey Smith",
"Brian Coltin",
"Ioannis Kymissis",
"Matei Ciocarlie"
] | In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet of both human and robotic tactile sensing, providing fast detection of contact and onset of slip. Microphones are an attractive option for implementing vibration sensing as they offer a fast response and can be sampled qu... |
AcTExplore: Active Tactile Exploration on Unknown Objects | https://ieeexplore.ieee.org/document/10611667/ | [
"Amir-Hossein Shahidzadeh",
"Seong Jong Yoo",
"Pavan Mantripragada",
"Chahat Deep Singh",
"Cornelia Fermüller",
"Yiannis Aloimonos",
"Amir-Hossein Shahidzadeh",
"Seong Jong Yoo",
"Pavan Mantripragada",
"Chahat Deep Singh",
"Cornelia Fermüller",
"Yiannis Aloimonos"
] | Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to the large-scale unknown environments and limited sensing coverage of these sensors. To this end, we present AcTExplore, an active tactile exploration method dr... |
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control | https://ieeexplore.ieee.org/document/10611545/ | [
"Yi Wang",
"Jiarong Kang",
"Zhiheng Chen",
"Xiaobin Xiong",
"Yi Wang",
"Jiarong Kang",
"Zhiheng Chen",
"Xiaobin Xiong"
] | We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion capability on aerial vehicles so that they can carry heavy loads: heavy enough that flying is no longer possible, e.g., when the thrust-to-weight ratio (TWR) is small. The robot is designed with a pogo-stick leg and a quad... |
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback | https://ieeexplore.ieee.org/document/10611045/ | [
"Jenny Zhang",
"Steve Heim",
"Se Hwan Jeon",
"Sangbae Kim",
"Jenny Zhang",
"Steve Heim",
"Se Hwan Jeon",
"Sangbae Kim"
] | We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feedback of the ground reaction force, which can be interpreted as an observer feedback gain. We interpret the oscillator itself as a latent contact state-estimator. Through a systematic ablation study, we show that the comb... |
Optimizing Dynamic Balance in a Rat Robot via the Lateral Flexion of a Soft Actuated Spine | https://ieeexplore.ieee.org/document/10611626/ | [
"Yuhong Huang",
"Zhenshan Bing",
"Zitao Zhang",
"Genghang Zhuang",
"Kai Huang",
"Alois Knoll",
"Yuhong Huang",
"Zhenshan Bing",
"Zitao Zhang",
"Genghang Zhuang",
"Kai Huang",
"Alois Knoll"
] | Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even with three limbs. This paper investigates the optimization of dynamic balance during trot gait based on the spatial relationship between the center of mass (CoM) a... |
Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots | https://ieeexplore.ieee.org/document/10611337/ | [
"Victor Barasuol",
"Sinan Emre",
"Vivian Suzano Medeiros",
"Angelo Bratta",
"Claudio Semini",
"Victor Barasuol",
"Sinan Emre",
"Vivian Suzano Medeiros",
"Angelo Bratta",
"Claudio Semini"
] | The capability of a quadruped robot to negotiate obstacles is tightly connected to its leg workspace and joint torque limits. When facing terrain where the height of obstacles is close to the leg length, the locomotion robustness and safety are reduced since more dynamic motions are required to traverse it. In this paper, we introduce a new mechanism called the Carpal-Claw, which enables quadruped... |
SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies | https://ieeexplore.ieee.org/document/10610057/ | [
"Alexander Spiridonov",
"Fabio Buehler",
"Moriz Berclaz",
"Valerio Schelbert",
"Jorit Geurts",
"Elena Krasnova",
"Emma Steinke",
"Jonas Toma",
"Joschua Wuethrich",
"Recep Polat",
"Wim Zimmermann",
"Philip Arm",
"Nikita Rudin",
"Hendrik Kolvenbach",
"Marco Hutter",
"Alexander Spiridonov",
"Fabio Buehler",
"Moriz Berclaz",
"Valerio Schelbert",
"Jorit Geurts",
"Elena Krasnova",
"Emma Steinke",
"Jonas Toma",
"Joschua Wuethrich",
"Recep Polat",
"Wim Zimmermann",
"Philip Arm",
"Nikita Rudin",
"Hendrik Kolvenbach",
"Marco Hutter"
] | We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2 kg and has a body size of 245 mm while using space-qualifiable components. Furthermore, SpaceHopper’s design and controls make it well-adapted for investigating dynamic locomotion modes with extended flight-phases. Instead of gyroscopes or fly-wheels, the sy... |
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots | https://ieeexplore.ieee.org/document/10610155/ | [
"Milad Shafiee",
"Guillaume Bellegarda",
"Auke Ijspeert",
"Milad Shafiee",
"Guillaume Bellegarda",
"Auke Ijspeert"
] | Learning a locomotion policy for quadruped robots has traditionally been constrained to a specific robot morphology, mass, and size. The learning process must usually be repeated for every new robot, where hyperparameters and reward function weights must be re-tuned to maximize performance for each new system. Alternatively, attempting to train a single policy to accommodate different robot sizes,... |
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions | https://ieeexplore.ieee.org/document/10610589/ | [
"Jeeseop Kim",
"Jaemin Lee",
"Aaron D. Ames",
"Jeeseop Kim",
"Jaemin Lee",
"Aaron D. Ames"
] | This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while preserving a desired trajectory via a layered controller. The top-level planner generates a safety-ensured trajectory for each agent, accounting for the d... |
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments | https://ieeexplore.ieee.org/document/10610504/ | [
"Jaemin Lee",
"Jeeseop Kim",
"Wyatt Ubellacker",
"Tamas G. Molnar",
"Aaron D. Ames",
"Jaemin Lee",
"Jeeseop Kim",
"Wyatt Ubellacker",
"Tamas G. Molnar",
"Aaron D. Ames"
] | This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study, we consider the problem of operating a quadrupedal robot in distillation columns, locomoting on column trays and transitioning between these trays w... |
Robust and Remote Center of Cyclic Motion Control for Redundant Robots with Partially Unknown Structure | https://ieeexplore.ieee.org/document/10611145/ | [
"Long Jin",
"Kun Liu",
"Mei Liu",
"Long Jin",
"Kun Liu",
"Mei Liu"
] | Remote center of motion (RCM) describes a robot with a rod-like end-effector operating through a hole in the interface separating the internal space from the external space. Considering that the control of RCM may be influenced by perturbations (noises) and that the end-effector is frequently replaced to complete different tasks, the structural information related to the robot manipulator and its ... |
Phase Synthesis for Spatial Locomotion Control of Retractable Worm Robots | https://ieeexplore.ieee.org/document/10610882/ | [
"Zhongcheng Wang",
"Shiwei Yuan",
"Manfeng Dou",
"Jianhua Yang",
"Bin Liang",
"Zhongcheng Wang",
"Shiwei Yuan",
"Manfeng Dou",
"Jianhua Yang",
"Bin Liang"
] | Retractable worm robots possess hyper-flexibility, allowing them to work in confined spaces that are difficult for humans. However, the spatial locomotion control of these robots remains challenging due to the robots’ large degrees of freedom. To address this challenge, we propose a phase synthesis (PS) scheme for retractable worm robots. The scheme combines an undulating gait inspired by caterpil... |
Enhanced Robust Motion Control based on Unknown System Dynamics Estimator for Robot Manipulators | https://ieeexplore.ieee.org/document/10611460/ | [
"Xinyu Jia",
"Jun Yang",
"Kaixin Lu",
"Yongping Pan",
"Haoyong Yu",
"Xinyu Jia",
"Jun Yang",
"Kaixin Lu",
"Yongping Pan",
"Haoyong Yu"
] | To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics estimator (USDE) to estimate disturbances without requiring acceleration signals and the inverse of inertia matrix. Then, based on the USDE framework, an adapt... |
Model-Free Control of a Class of High-Precision Scanning Motion Systems with Piezoceramic Actuators | https://ieeexplore.ieee.org/document/10611589/ | [
"Yazan M. Al-Rawashdeh",
"Mohammad Al Saaideh",
"Marcel F. Heertjes",
"Mohammad Al Janaideh",
"Yazan M. Al-Rawashdeh",
"Mohammad Al Saaideh",
"Marcel F. Heertjes",
"Mohammad Al Janaideh"
] | To enhance the precision of coarse long-stroke motion axes, complementary short-stroke fine positioning stages are usually introduced. Being mechanically attached, the motion of the combined positioning stages needs to be controlled and synchronized. Therefore, typically suitable model-based controllers of fine stages are designed according to the sophisticated models and identification techniques... |
Constrained Nonlinear Disturbance Observer for Robotic Systems | https://ieeexplore.ieee.org/document/10611091/ | [
"Ji Wan Han",
"Daehyung Park",
"Min Jun Kim",
"Ji Wan Han",
"Daehyung Park",
"Min Jun Kim"
] | Disturbance observer (DOB) is a well-known two-loop control structure that imparts robustness to a controller with a simple implementation. As a nonlinear DOB for the robotic systems, we proposed so-called nonlinear robust internal-loop compensator (NRIC) framework in our previous work. In this paper, we further extend the NRIC in such a way that an optimization scheme can be embedded in the contr... |
An Integrated Position-velocity-force Method for Safety-enhanced Shared Control in Robot-assisted Surgical Cutting | https://ieeexplore.ieee.org/document/10610466/ | [
"Xilin Xiao",
"Xiaojian Li",
"Yudong Shi",
"Jin Fang",
"Lin Li",
"Pengfei He",
"Hangjie Mo",
"Xilin Xiao",
"Xiaojian Li",
"Yudong Shi",
"Jin Fang",
"Lin Li",
"Pengfei He",
"Hangjie Mo"
] | Numerous studies have emphasized the application of autonomous intelligence in human-robot shared control to enhance surgical convenience and efficiency. However, the neglect of human dominance may reduce surgical safety. This paper developed a safety-enhanced human-robot shared control method by intelligently allocating control authority, with the surgeon remaining the leader during the surgical ... |
Robotic Craniomaxillofacial Osteotomy System Using Acoustic 3D Registration * | https://ieeexplore.ieee.org/document/10610887/ | [
"Jiayu Zhu",
"Runzhe Han",
"Mengning Yuan",
"Bimeng Jie",
"Shanshan Du",
"Yang He",
"Runshi Zhang",
"Junchen Wang",
"Jiayu Zhu",
"Runzhe Han",
"Mengning Yuan",
"Bimeng Jie",
"Shanshan Du",
"Yang He",
"Runshi Zhang",
"Junchen Wang"
] | Osteotomy holds a pivotal position among the fundamental procedures in craniomaxillofacial (CMF) surgery. However, there are inherent challenges and risks associated with ensuring the recuperation of occlusion, safeguarding the facial nerves and blood vessels, as well as preserving facial aesthetics. In this study, a non-invasive image-to-patient registration method for navigation/robotic CMF surg... |
Elliptical torus-based Six-axis FBG Force Sensor with In-situ Calibration for Condition Monitoring of Orthopedic Surgical Robot* | https://ieeexplore.ieee.org/document/10611093/ | [
"Tianliang Li",
"Chen Zhao",
"Yuhang Wen",
"Fayin Chen",
"Yuegang Tan",
"Zude Zhou",
"Tianliang Li",
"Chen Zhao",
"Yuhang Wen",
"Fayin Chen",
"Yuegang Tan",
"Zude Zhou"
] | Six-axis force/moment (6-A F/M) sensors make surgical robots effectively sense intraoperative force feedback and drilling status information, reducing the operating challenges and psychological burden of doctors, which also improves the quality and safety of surgery. However, it is difficult for current commercial electrical 6-A F/M sensors to adapt the electromagnetic environment in the operating... |
A Hybrid Admittance Control Algorithm for Automatic Robotic Cranium-Milling | https://ieeexplore.ieee.org/document/10610672/ | [
"Chen Qian",
"Zhen Li",
"Qiang Ye",
"Peicong Ge",
"Jizong Zhao",
"Gui-Bin Bian",
"Chen Qian",
"Zhen Li",
"Qiang Ye",
"Peicong Ge",
"Jizong Zhao",
"Gui-Bin Bian"
] | Prior robot-assisted cranium-milling studies only considered controlling the force in the skull’s vertical direction and neglected the milling cutter’s feed force. Additionally, achieving stable force control in multiple directions is challenging for robots due to the uneven skull surface. Here a hybrid admittance control algorithm incorporating a model-free adaptive nonlinear force control and fu... |
Preliminary Study of Fingertip and Wrist Motion Based Haptic Controller for Robotically Assisted Micro- and Supermicrosurgery | https://ieeexplore.ieee.org/document/10610859/ | [
"Muneaki Miyasaka",
"Pepijn Van Esch",
"Atsushi Morikawa",
"Kotaro Tadano",
"Muneaki Miyasaka",
"Pepijn Van Esch",
"Atsushi Morikawa",
"Kotaro Tadano"
] | One issue of robotic microsurgery is that compared to manual surgery, the operation time tends to be longer due to high motion scaling. To address this issue, we developed a new controller that can provide the accuracy required for microsurgery without a high scaling factor by utilizing fingertip and wrist motions. Also, for the better outcome of surgery, the proposed controller has a force feedba... |
Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery | https://ieeexplore.ieee.org/document/10611187/ | [
"Hisashi Ishida",
"Manish Sahu",
"Adnan Munawar",
"Nimesh Nagururu",
"Deepa Galaiya",
"Peter Kazanzides",
"Francis X. Creighton",
"Russell H. Taylor",
"Hisashi Ishida",
"Manish Sahu",
"Adnan Munawar",
"Nimesh Nagururu",
"Deepa Galaiya",
"Peter Kazanzides",
"Francis X. Creighton",
"Russell H. Taylor"
] | Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While image-guided surgical navigation is the prevailing standard, limitation still exists requiring personalized planning and recognizing the irreplaceable role of a skilled surgeon. This paper presents a collaboratively controll... |
Intelligent Disinfection Robot with High-Touch Surface Detection and Dynamic Pedestrian Avoidance | https://ieeexplore.ieee.org/document/10610836/ | [
"Yunfei Luan",
"Muhang He",
"Yudong Tian",
"Chengjie Lin",
"Yunhan Fang",
"Zihao Zhao",
"Jianxin Yang",
"Yao Guo",
"Yunfei Luan",
"Muhang He",
"Yudong Tian",
"Chengjie Lin",
"Yunhan Fang",
"Zihao Zhao",
"Jianxin Yang",
"Yao Guo"
] | The increasing awareness of public health issues has highlighted the need for effective disinfection of crowded indoor public areas, leading to the development of automated disinfection robots. However, most of the existing robots spray disinfectant in all areas, and they are still immature to navigate in densely populated environments. Hence, in this paper, we design a new disinfection robotic sy... |
Toward a framework integrating augmented reality and virtual fixtures for safer robot-assisted lymphadenectomy | https://ieeexplore.ieee.org/document/10610099/ | [
"Ziyang Chen",
"Ke Fan",
"Laura Cruciani",
"Matteo Fontana",
"Lorenzo Muraglia",
"Francesco Ceci",
"Laura Travaini",
"Giancarlo Ferrigno",
"Elena De Momi",
"Ziyang Chen",
"Ke Fan",
"Laura Cruciani",
"Matteo Fontana",
"Lorenzo Muraglia",
"Francesco Ceci",
"Laura Travaini",
"Giancarlo Ferrigno",
"Elena De Momi"
] | Lymphadenectomy generally accompanies various oncology surgeries to remove infected cancer cells. However, there are two limitations in robot-assisted lymphadenectomy: 1) lymph nodes are not visible during operation since they are hidden by the superficial fat layer; 2) intra-operative bleeding may occur during lymph node removal caused by collisions between surgical instruments and delicate blood... |
Hyblock: Hardware Realization and Control of Modular Hydraulic Robots with Dowel Connectors | https://ieeexplore.ieee.org/document/10611336/ | [
"Sang-Ho Hyon",
"Ryo Ando",
"Eiji Sono",
"Shunichi Sugimoto",
"Yasushi Saitou",
"Sang-Ho Hyon",
"Ryo Ando",
"Eiji Sono",
"Shunichi Sugimoto",
"Yasushi Saitou"
] | This paper presents the hardware design and development of Hyblock, a modular hydraulic robot for heavy-duty application such as construction. The robot is equipped with a simple docking mechanism called a C-type expansion dowel and a novel hydraulic circuit MHSB that matches the modular structure. In this paper, we first report on the design of the robot hardware including the dowel and hydraulic... |
Self-Reconfigurable Robots for Collaborative Discrete Lattice Assembly | https://ieeexplore.ieee.org/document/10609866/ | [
"Miana Smith",
"Amira Abdel-Rahman",
"Neil Gershenfeld",
"Miana Smith",
"Amira Abdel-Rahman",
"Neil Gershenfeld"
] | We present a robotic system for the assembly of 3D discrete lattice structures in which the robots are able to self-reproduce, such that the assembly system may scale its own parallelization. Robots and structures are made from a set of compatible building blocks, or voxels, which can be assembled and reassembled into more complex structures. Robotic modules are made by combining actuators with a ... |
LiSTA: Geometric Object-Based Change Detection in Cluttered Environments | https://ieeexplore.ieee.org/document/10610102/ | [
"Joseph Rowell",
"Lintong Zhang",
"Maurice Fallon",
"Joseph Rowell",
"Lintong Zhang",
"Maurice Fallon"
] | We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system, including construction, robotic navigation, long-term autonomy, and environmental monitoring. We focus on the semi-static scenario where objects are added, subtracted, or changed in position over weeks or months. Our sy... |
Scalable underwater assembly with reconfigurable visual fiducials | https://ieeexplore.ieee.org/document/10611643/ | [
"Samuel Lensgraf",
"Ankita Sarkar",
"Adithya Pediredla",
"Devin Balkcom",
"Alberto Quattrini Li",
"Samuel Lensgraf",
"Ankita Sarkar",
"Adithya Pediredla",
"Devin Balkcom",
"Alberto Quattrini Li"
] | We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure’s positional accuracy. Our uncertainty model can be combined with the noise characteristics from multiple sensors. For the task planning problem,... |
Automatic Loading of Unknown Material with a Wheel Loader Using Reinforcement Learning | https://ieeexplore.ieee.org/document/10610221/ | [
"Daniel Eriksson",
"Reza Ghabcheloo",
"Marcus Geimer",
"Daniel Eriksson",
"Reza Ghabcheloo",
"Marcus Geimer"
] | Loading multiple different materials with wheel loaders is a challenging task because various materials require different loading techniques. It’s, therefore, difficult to find a single controller capable of handling them all. One solution is to use a base controller and fine-tune it for different materials. Reinforcement Learning (RL) automates this process without the need for collecting additio... |
Ospreys-inspired Self-takeoff Strategy of An Eagle-scale Flapping-wing Robot: System Design and Flight Experiments | https://ieeexplore.ieee.org/document/10610958/ | [
"Haoyu Wang",
"Wenfu Xu",
"Linpo Hou",
"Erzhen Pan",
"Haoyu Wang",
"Wenfu Xu",
"Linpo Hou",
"Erzhen Pan"
] | In this work, we achieved a self-takeoff of an eagle-scale flapping-wing robot for the first time. Inspired by the takeoff process of Ospreys, we propose a bio-inspired takeoff strategy, then discuss the dynamic model and the requirements for self-takeoff. Based on the requirements of flight strategy, we designed a system with two parts, including a flapping-wing aircraft with a wingspan of 1.8m a... |
Model-Based Approach for Lateral Maneuvers of Bird-Size Ornithopter | https://ieeexplore.ieee.org/document/10611580/ | [
"Ernesto Sanchez-Laulhe",
"Álvaro C. Satué Crespo",
"Saeed Rafee Nekoo",
"Anibal Ollero",
"Ernesto Sanchez-Laulhe",
"Álvaro C. Satué Crespo",
"Saeed Rafee Nekoo",
"Anibal Ollero"
] | A model-based approach for lateral maneuvering of flapping wing UAVs in closed spaces is presented. Bird-size ornithopters do not have asymmetric actuation in the wing due to mechanical complexity, so they rely upon the tail for lateral maneuvering. The prototype E-Flap can deflect the vertical tail to make maneuvers out of the longitudinal plane. This work defines simplified equations for the ste... |
Real-Time Estimation for the Swimming Direction of Robotic Fish Based on IMU Sensors* | https://ieeexplore.ieee.org/document/10610815/ | [
"Shikun Li",
"Yufan Zhai",
"Chen Wang",
"Guangming Xie",
"Shikun Li",
"Yufan Zhai",
"Chen Wang",
"Guangming Xie"
] | An increasing number of underwater robots inspired by Carangidae are developed, which is characterized by high efficiency and flexibility. However, estimating the swimming direction of these robotic fish is challenging due to the constant swinging of the head during movement, which complicates precise control. In this study, we installed two low-cost inertial measurement unit (IMU) sensors separat... |
A Novel Fish-inspired Self-adaptive Approach to Collective Escape of Swarm Robots Based on Neurodynamic Models | https://ieeexplore.ieee.org/document/10610169/ | [
"Junfei Li",
"Simon X. Yang",
"Junfei Li",
"Simon X. Yang"
] | Fish schools present high-efficiency group behaviors to collective migration and dynamic escape from the predator through simple individual interactions. The purpose of this research is to infuse swarm robots with "fish-like" intelligence that will enable safe navigation and efficient cooperation, and successful completion of escape tasks in changing environments. In this paper, a novel fish-inspi... |
RUMP: Robust Underwater Motion Planning in Dynamic Environments of Fast-moving Obstacles | https://ieeexplore.ieee.org/document/10610406/ | [
"Herman Biørn Amundsen",
"Torben Falleth Olsen",
"Marios Xanthidis",
"Martin Føre",
"Eleni Kelasidi",
"Herman Biørn Amundsen",
"Torben Falleth Olsen",
"Marios Xanthidis",
"Martin Føre",
"Eleni Kelasidi"
] | Robust underwater motion planning of autonomous underwater vehicles (AUVs) in dynamic cluttered environments is a problem that has yet to be addressed in depth. Due to advances in technology and computational capacity, AUVs are expected to operate safely and autonomously in increasingly challenging environments, necessitating methods that are able to safely navigate robots in real-time. Though, mo... |
Metrically Scaled Monocular Depth Estimation through Sparse Priors for Underwater Robots | https://ieeexplore.ieee.org/document/10611007/ | [
"Luca Ebner",
"Gideon Billings",
"Stefan Williams",
"Luca Ebner",
"Gideon Billings",
"Stefan Williams"
] | In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the depth predictions and solve the problem of scale ambiguity. To allow prior inputs of arbitrary sparsity, we apply a dense parameterization method. Our model ex... |
SONIC: Sonar Image Correspondence using Pose Supervised Learning for Imaging Sonars | https://ieeexplore.ieee.org/document/10611678/ | [
"Samiran Gode",
"Akshay Hinduja",
"Michael Kaess",
"Samiran Gode",
"Akshay Hinduja",
"Michael Kaess"
] | In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised network designed to yield robust feature correspondence capable of withstanding viewpoint variations. The inherent complexity of the underwater environment stems fro... |
CaveSeg: Deep Semantic Segmentation and Scene Parsing for Autonomous Underwater Cave Exploration | https://ieeexplore.ieee.org/document/10611543/ | [
"Adnan Abdullah",
"Titon Barua",
"Reagan Tibbetts",
"Zijie Chen",
"Md Jahidul Islam",
"Ioannis Rekleitis",
"Adnan Abdullah",
"Titon Barua",
"Reagan Tibbetts",
"Zijie Chen",
"Md Jahidul Islam",
"Ioannis Rekleitis"
] | In this paper, we present CaveSeg - the first visual learning pipeline for semantic segmentation and scene parsing for AUV navigation inside underwater caves. We address the problem of scarce annotated training data by preparing a comprehensive dataset for semantic segmentation of underwater cave scenes. It contains pixel annotations for important navigation markers (e.g. caveline, arrows), obstac... |
Discovering Biological Hotspots with a Passively Listening AUV | https://ieeexplore.ieee.org/document/10610917/ | [
"Seth McCammon",
"Stewart Jamieson",
"T. Aran Mooney",
"Yogesh Girdhar",
"Seth McCammon",
"Stewart Jamieson",
"T. Aran Mooney",
"Yogesh Girdhar"
] | We present a novel system which blends multiple distinct sensing modalities in audio-visual surveys to assist marine biologists in collecting datasets for understanding the ecological relationship of fish and other organisms with their habitats on and around coral reefs. Our system, designed for the CUREE AUV, uses four hydrophones to determine the bearing to biological sound sources through beamf... |
A Du-Octree based Cross-Attention Model for LiDAR Geometry Compression | https://ieeexplore.ieee.org/document/10610640/ | [
"Mingyue Cui",
"Mingjian Feng",
"Junhua Long",
"Daosong Hu",
"Shuai Zhao",
"Kai Huang",
"Mingyue Cui",
"Mingjian Feng",
"Junhua Long",
"Daosong Hu",
"Shuai Zhao",
"Kai Huang"
] | Point cloud compression is an essential technology for efficient storage and transmission of 3D data. Previous methods usually use hierarchical tree data structures for encoding the spatial sparseness of point clouds. However, the node context within the tree is not fully discovered since the feature space among nodes varies significantly. To address this problem, we innovatively represent the LiD... |
Energy Consumption Modelling of Coaxial-Rotor in Vortex Ring State for Controllable High-speed Descending | https://ieeexplore.ieee.org/document/10610429/ | [
"Jiawei Sun",
"Xiang Zhou",
"Taoze Ban",
"Jiannan Zhao",
"Feng Shuang",
"Jiawei Sun",
"Xiang Zhou",
"Taoze Ban",
"Jiannan Zhao",
"Feng Shuang"
] | The ability to fast climb and descend is crucial for Unmanned Aerial Vehicle (UAV) applications in the mountains. The slower descent speed will affect the UAV’s working efficiency in reaching the rescue area. However, during the fast descent of the rotorcraft, a chaotic flow field rampages as the rotorcraft falls into its wake flow. This is known as the vortex ring. Therefore, the safe descent vel... |
Aerial Tensile Perching and Disentangling Mechanism for Long-Term Environmental Monitoring | https://ieeexplore.ieee.org/document/10609975/ | [
"Tian Lan",
"Luca Romanello",
"Mirko Kovac",
"Sophie F. Armanini",
"Basaran Bahadir Kocer",
"Tian Lan",
"Luca Romanello",
"Mirko Kovac",
"Sophie F. Armanini",
"Basaran Bahadir Kocer"
] | Aerial robots show significant potential for forest canopy research and environmental monitoring by providing data collection capabilities at high spatial and temporal resolutions. However, limited flight endurance hinders their application. Inspired by natural perching behaviours, we propose a multi-modal aerial robot system that integrates tensile perching for energy conservation and a suspended... |
Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles | https://ieeexplore.ieee.org/document/10610862/ | [
"Lucas Wälti",
"Alcherio Martinoli",
"Lucas Wälti",
"Alcherio Martinoli"
] | This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters. We only rely on commonly available sensor information onboard a MAV, such as accelerometer data, pose estimate, and throttle commands, which m... |
Flight Validation of a Global Singularity-Free Aerodynamic Model for Flight Control of Tail Sitters | https://ieeexplore.ieee.org/document/10610780/ | [
"Krishna Murali",
"Elena P. Moreno",
"Leandro R. Lustosa",
"Krishna Murali",
"Elena P. Moreno",
"Leandro R. Lustosa"
] | This work validates through flight tests a previously developed wide-envelope singularity-free aerodynamic framework, called ϕ-theory, for modeling dual-engine tail-sitting flying-wing vehicles for optimization-based control. The ϕ-theory methodology imposes a specific geometry on aerodynamic coefficients that leads to polynomial differential equations of motion amenable to semidefinite programmin... |
Empirical Study of Ground Proximity Effects for Small-scale Electroaerodynamic Thrusters | https://ieeexplore.ieee.org/document/10610481/ | [
"Grant Nations",
"C. Luke Nelson",
"Daniel S. Drew",
"Grant Nations",
"C. Luke Nelson",
"Daniel S. Drew"
] | Electroaerodynamic (EAD) propulsion, where thrust is produced by collisions between electrostatically-accelerated ions and neutral air, is a potentially transformative method for indoor flight owing to its silent and solid-state nature. Like rotors, EAD thrusters exhibit changes in performance based on proximity to surfaces. Unlike rotors, they have no fragile and quickly spinning parts that have ... |
The Price of a Safe Flight: Risk Cost Based Path Planning | https://ieeexplore.ieee.org/document/10610752/ | [
"Aliaksei Pilko",
"Andy Oakey",
"Mario Ferraro",
"James Scanlan",
"Aliaksei Pilko",
"Andy Oakey",
"Mario Ferraro",
"James Scanlan"
] | A risk aware UAS path planning methodology is proposed using monetary value as the sole cost metric. A third party ground risk model is used to generate a non-uniform costmap for a modified A* heuristic search. The Value of a Prevented Fatality provides a basis to convert fatality risk to monetary value terms as a Human Value at Risk (HVaR) measure. Additional operating and UAS Capital Value at Ri... |
Tight Fusion of Odometry and Kinematic Constraints for Multiple Aerial Vehicles in Physical Interconnection | https://ieeexplore.ieee.org/document/10610282/ | [
"Yingjun Fan",
"Chuanbeibei Shi",
"Ganghua Lai",
"Ruiheng Zhang",
"Yushu Yu",
"Fuchun Sun",
"Yiqun Dong",
"Yingjun Fan",
"Chuanbeibei Shi",
"Ganghua Lai",
"Ruiheng Zhang",
"Yushu Yu",
"Fuchun Sun",
"Yiqun Dong"
] | Integrated aerial Platforms (IAPs), comprising multiple aircrafts, are typically fully actuated and hold significant potential for aerial manipulation tasks. Differing from a multiple aerial swarm, the aircrafts within the IAP are interconnected, presenting promising opportunities for enhancing localization. Incorporating the physical constraints of these multiple aircrafts to improve the accuracy... |
Robust Multi-Robot Global Localization with Unknown Initial Pose based on Neighbor Constraints | https://ieeexplore.ieee.org/document/10610066/ | [
"Yaojie Zhang",
"Haowen Luo",
"Weijun Wang",
"Wei Feng",
"Yaojie Zhang",
"Haowen Luo",
"Weijun Wang",
"Wei Feng"
] | Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots’ viewpoints. It also makes traditional Appearance-based localization methods unusable. Recently, researchers have utilized the object’s semantic invariance to generate a semantic graph to address this issue. Howeve... |
AutoFusion: Autonomous Visual Geolocation and Online Dense Reconstruction for UAV Cluster | https://ieeexplore.ieee.org/document/10611315/ | [
"Yizhu Zhang",
"Shuhui Bu",
"Yifei Dong",
"Yu Zhang",
"Kun Li",
"Lin Chen",
"Yizhu Zhang",
"Shuhui Bu",
"Yifei Dong",
"Yu Zhang",
"Kun Li",
"Lin Chen"
] | Real-time dense reconstruction using Unmanned Aerial Vehicle (UAV) is becoming increasingly popular in large-scale rescue and environmental monitoring tasks. However, due to the energy constraints of a single UAV, the efficiency can be greatly improved through the collaboration of multi-UAVs. Nevertheless, when faced with unknown environments or the loss of Global Navigation Satellite System (GNSS... |
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms | https://ieeexplore.ieee.org/document/10611672/ | [
"Shipeng Zhong",
"Hongbo Chen",
"Yuhua Qi",
"Dapeng Feng",
"Zhiqiang Chen",
"Jin Wu",
"Weisong Wen",
"Ming Liu",
"Shipeng Zhong",
"Hongbo Chen",
"Yuhua Qi",
"Dapeng Feng",
"Zhiqiang Chen",
"Jin Wu",
"Weisong Wen",
"Ming Liu"
] | Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized system to facilitate collaborative LiDAR-ranging-inertial state estimation, enabling robotic swarms to operate without the need for anchor deployment. The system... |
TP3M: Transformer-based Pseudo 3D Image Matching with Reference Image | https://ieeexplore.ieee.org/document/10610556/ | [
"Liming Han",
"Zhaoxiang Liu",
"Shiguo Lian",
"Liming Han",
"Zhaoxiang Liu",
"Shiguo Lian"
] | Image matching is still challenging in such scenes with large viewpoints or illumination changes or with low textures. In this paper, we propose a Transformer-based pseudo 3D image matching method. It upgrades the 2D features extracted from the source image to 3D features with the help of a reference image and matches to the 2D features extracted from the destination image by the coarse-to-fine 3D... |
Adaptive Outlier Thresholding for Bundle Adjustment in Visual SLAM | https://ieeexplore.ieee.org/document/10610433/ | [
"Alejandro Fontan",
"Javier Civera",
"Michael Milford",
"Alejandro Fontan",
"Javier Civera",
"Michael Milford"
] | State-of-the-art V-SLAM pipelines utilize robust cost functions and outlier rejection techniques to remove incorrect correspondences. However, these methods are typically fine-tuned to overfit certain benchmarks and struggle to adapt effectively to changes in the application domain or environmental conditions. This renders them impractical for many robotic applications in which robustness in a wid... |
From Satellite to Ground: Satellite Assisted Visual Localization with Cross-view Semantic Matching | https://ieeexplore.ieee.org/document/10611658/ | [
"Xiyue Guo",
"Haocheng Peng",
"Junjie Hu",
"Hujun Bao",
"Guofeng Zhang",
"Xiyue Guo",
"Haocheng Peng",
"Junjie Hu",
"Hujun Bao",
"Guofeng Zhang"
] | One of the key challenges of visual Simultaneous Localization and Mapping (SLAM) in large-scale environments is how to effectively use global localization to correct the cumulative errors from long-term tracking. This challenge presents itself in two main aspects: first, the difficulty for robots in revisiting previous locations to perform loop closure, and second, the considerable memory resource... |
Self-Supervised Learning of Monocular Visual Odometry and Depth with Uncertainty-Aware Scale Consistency | https://ieeexplore.ieee.org/document/10610075/ | [
"Changhao Wang",
"Guanwen Zhang",
"Wei Zhou",
"Changhao Wang",
"Guanwen Zhang",
"Wei Zhou"
] | The inherent scale ambiguity issue greatly limits the performance of monocular visual odometry. In recent years, a variety of methods have been proposed for self-supervised learning of ego-motion and depth estimation, incorporating specifically designed scale-consistency constraints that utilize estimated depth as a reference. However, these existing methods neglect the influence of the depth unce... |
Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environments | https://ieeexplore.ieee.org/document/10611563/ | [
"Alberto García-Hernández",
"Riccardo Giubilato",
"Klaus H. Strobl",
"Javier Civera",
"Rudolph Triebel",
"Alberto García-Hernández",
"Riccardo Giubilato",
"Klaus H. Strobl",
"Javier Civera",
"Rudolph Triebel"
] | Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing for Unifying Local and Global Multimodal Features) that 1) leverages multi-modality by cross-attention blocks between vision and LiDAR features, and 2) includes ... |
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments | https://ieeexplore.ieee.org/document/10611074/ | [
"Zhiqiang Chen",
"Hongbo Chen",
"Yuhua Qi",
"Shipeng Zhong",
"Dapeng Feng",
"Jin Wu",
"Weisong Wen",
"Ming Liu",
"Zhiqiang Chen",
"Hongbo Chen",
"Yuhua Qi",
"Shipeng Zhong",
"Dapeng Feng",
"Jin Wu",
"Weisong Wen",
"Ming Liu"
] | LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper presents RELEAD, a LiDAR-centric solution designed to address scan-matching degradation. Our method enables degeneracy-free point cloud registration by solving... |
Semantic-focused Patch Tokenizer with Multi-branch Mixer for Visual Place Recognition | https://ieeexplore.ieee.org/document/10610372/ | [
"Zhenyu Xu",
"Ziliang Ren",
"Qieshi Zhang",
"Jie Lou",
"Dacheng Tao",
"Jun Cheng",
"Zhenyu Xu",
"Ziliang Ren",
"Qieshi Zhang",
"Jie Lou",
"Dacheng Tao",
"Jun Cheng"
] | Visual Place Recognition (VPR) is critical for navigation and loop closure in autonomous driving tasks, mitigating the impact of shift errors caused by dynamic changes in the environment. Due to the limited ability of backbone networks and extreme environmental changes, current methods fail to capture foundational semantic details that include the distinctive attributes for unique place identifica... |
VioLA: Aligning Videos to 2D LiDAR Scans | https://ieeexplore.ieee.org/document/10610757/ | [
"Jun-Jee Chao",
"Selim Engin",
"Nikhil Chavan-Dafle",
"Bhoram Lee",
"Volkan Isler",
"Jun-Jee Chao",
"Selim Engin",
"Nikhil Chavan-Dafle",
"Bhoram Lee",
"Volkan Isler"
] | We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts with building a semantic map of the local scene from the image sequence, then extracts points at a fixed height for registering to the LiDAR map. Due to reconstruction errors or partial coverage of the camera scan, the re... |
Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps | https://ieeexplore.ieee.org/document/10610276/ | [
"Katie Z Luo",
"Xinshuo Weng",
"Yan Wang",
"Shuang Wu",
"Jie Li",
"Kilian Q Weinberger",
"Yue Wang",
"Marco Pavone",
"Katie Z Luo",
"Xinshuo Weng",
"Yan Wang",
"Shuang Wu",
"Jie Li",
"Kilian Q Weinberger",
"Yue Wang",
"Marco Pavone"
] | Autonomous driving has traditionally relied heavily on costly and labor-intensive High Definition (HD) maps, hindering scalability. In contrast, Standard Definition (SD) maps are more affordable and have worldwide coverage, offering a scalable alternative. In this work, we systematically explore the effect of SD maps for real-time lane-topology understanding. We propose a novel framework to integr... |
3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding | https://ieeexplore.ieee.org/document/10610338/ | [
"Shuo Sun",
"Malcolm Mielle",
"Achim J. Lilienthal",
"Martin Magnusson",
"Shuo Sun",
"Malcolm Mielle",
"Achim J. Lilienthal",
"Martin Magnusson"
] | Neural implicit surface representations are currently receiving a lot of interest as a means to achieve high-fidelity surface reconstruction at a low memory cost, compared to traditional explicit representations. However, state-of-the-art methods still struggle with excessive memory usage and non-smooth surfaces. This is particularly problematic in large-scale applications with sparse inputs, as i... |
Towards Large-Scale Incremental Dense Mapping using Robot-centric Implicit Neural Representation | https://ieeexplore.ieee.org/document/10611564/ | [
"Jianheng Liu",
"Haoyao Chen",
"Jianheng Liu",
"Haoyao Chen"
] | Large-scale dense mapping is vital in robotics, digital twins, and virtual reality. Recently, implicit neural mapping has shown remarkable reconstruction quality. However, incremental large-scale mapping with implicit neural representations remains problematic due to low efficiency, limited video memory, and the catastrophic forgetting phenomenon. To counter these challenges, we introduce the Robo... |
Camera Relocalization in Shadow-free Neural Radiance Fields | https://ieeexplore.ieee.org/document/10611228/ | [
"Shiyao Xu",
"Caiyun Liu",
"Yuantao Chen",
"Zhenxin Zhu",
"Zike Yan",
"Yongliang Shi",
"Hao Zhao",
"Guyue Zhou",
"Shiyao Xu",
"Caiyun Liu",
"Yuantao Chen",
"Zhenxin Zhu",
"Zike Yan",
"Yongliang Shi",
"Hao Zhao",
"Guyue Zhou"
] | Camera relocalization is a crucial problem in computer vision and robotics. Recent advancements in neural radiance fields (NeRFs) have shown promise in synthesizing photo-realistic images. Several works have utilized NeRFs for refining camera poses, but they do not account for lighting changes that can affect scene appearance and shadow regions, causing a degraded pose optimization process. In thi... |
QuadricsNet: Learning Concise Representation for Geometric Primitives in Point Clouds | https://ieeexplore.ieee.org/document/10610722/ | [
"Ji Wu",
"Huai Yu",
"Wen Yang",
"Gui-Song Xia",
"Ji Wu",
"Huai Yu",
"Wen Yang",
"Gui-Song Xia"
] | This paper presents a novel framework to learn a concise geometric primitive representation for 3D point clouds. Different from representing each type of primitive individually, we focus on the challenging problem of how to achieve a concise and uniform representation robustly. We employ quadrics to represent diverse primitives with only 10 parameters and propose the first end-to-end learning-base... |
ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping | https://ieeexplore.ieee.org/document/10610396/ | [
"Jiabao Zhang",
"Yu Zhang",
"Jiabao Zhang",
"Yu Zhang"
] | Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing challenges for accurate mapping and navigation. To address this issue, we propose ERASOR++, an enhanced approach based on the Egocentric Ratio of Pseudo Occupancy fo... |
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors | https://ieeexplore.ieee.org/document/10611206/ | [
"Ziwei Liao",
"Jun Yang",
"Jingxing Qian",
"Angela P. Schoellig",
"Steven L. Waslander",
"Ziwei Liao",
"Jun Yang",
"Jingxing Qian",
"Angela P. Schoellig",
"Steven L. Waslander"
] | 3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. We propose a framework that can reconstruct high-quality object-level maps for unknown objects. Our approach takes multiple RGB-D images as input and outputs dense 3D shapes and 9-DoF poses (including 3 scale parameters) for detected objects. The co... |
RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation | https://ieeexplore.ieee.org/document/10610234/ | [
"Sourav Garg",
"Krishan Rana",
"Mehdi Hosseinzadeh",
"Lachlan Mares",
"Niko Sünderhauf",
"Feras Dayoub",
"Ian Reid",
"Sourav Garg",
"Krishan Rana",
"Mehdi Hosseinzadeh",
"Lachlan Mares",
"Niko Sünderhauf",
"Feras Dayoub",
"Ian Reid"
] | Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit object-level reasoning and interconnectivity. In this paper, we propose a novel topological representation of an environment based on , which are semantically meaningf... |
Grasp Manipulation Relationship Detection based on Graph Sample and Aggregation | https://ieeexplore.ieee.org/document/10611627/ | [
"Jiayuan Luo",
"Yaxin Liu",
"Han Wang",
"Mengyuan Ding",
"Xuguang Lan",
"Jiayuan Luo",
"Yaxin Liu",
"Han Wang",
"Mengyuan Ding",
"Xuguang Lan"
] | In multi-object stacking scenarios, exploring the relationships among objects and determining the correct sequence of operations are crucial for robotic manipulation. However, previous algorithms inefficiently combine global and local information, often focusing solely on the local features of objects or the interactions of object features at a global level. This approach leads to imbalanced distr... |
Acoustic Soft Tactile Skin (AST Skin) | https://ieeexplore.ieee.org/document/10610768/ | [
"Vishnu Rajendran S",
"Willow Mandil",
"Kiyanoush Nazari",
"Simon Parsons",
"Amir Ghalamzan E",
"Vishnu Rajendran S",
"Willow Mandil",
"Kiyanoush Nazari",
"Simon Parsons",
"Amir Ghalamzan E"
] | This paper presents a novel acoustic soft tactile (AST) skin technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a deformation of the channel when pressed by an external force and received by a microphone at the end of the channel. The sensor leverages regression and class... |
Domain Randomization for Sim2real Transfer of Automatically Generated Grasping Datasets | https://ieeexplore.ieee.org/document/10610677/ | [
"Johann Huber",
"François Hélénon",
"Hippolyte Watrelot",
"Faïz Ben Amar",
"Stéphane Doncieux",
"Johann Huber",
"François Hélénon",
"Hippolyte Watrelot",
"Faïz Ben Amar",
"Stéphane Doncieux"
] | Robotic grasping refers to making a robotic system pick an object by applying forces and torques on its surface. Many recent studies use data-driven approaches to address grasping, but the sparse reward nature of this task made the learning process challenging to bootstrap. To avoid constraining the operational space, an increasing number of works propose grasping datasets to learn from. But most ... |
Kinematic Synergy Primitives for Human-Like Grasp Motion Generation | https://ieeexplore.ieee.org/document/10611490/ | [
"Julia Starke",
"Tamim Asfour",
"Julia Starke",
"Tamim Asfour"
] | Grasping with five-fingered humanoid hands is a complex control problem. Throughout the entire grasping motion, all finger joints need to be coordinated to achieve a stable grasp. Grasp synergies provide a simplified, low-dimensional representation of grasp postures and motions, that can be used for the description of human grasps as well as the generation of novel, human-like grasps. However, the... |
VFAS-Grasp: Closed Loop Grasping with Visual Feedback and Adaptive Sampling | https://ieeexplore.ieee.org/document/10611183/ | [
"Pedro Piacenza",
"Jiacheng Yuan",
"Jinwook Huh",
"Volkan Isler",
"Pedro Piacenza",
"Jiacheng Yuan",
"Jinwook Huh",
"Volkan Isler"
] | We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a set of candidate grasps by generating random perturbations of a seed grasp. The candidates are then scored using a novel metric which combines a learned grasp-qu... |
The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges | https://ieeexplore.ieee.org/document/10611267/ | [
"Malcolm Tisdale",
"Joel W. Burdick",
"Malcolm Tisdale",
"Joel W. Burdick"
] | This paper and its companion propose a new fractal robotic gripper, drawing inspiration from the centuryold Fractal Vise. The unusual synergistic properties allow it to passively conform to diverse objects using only one actuator. Designed to be easily integrated with prevailing parallel jaw grippers, it alleviates the complexities tied to perception and grasp planning, especially when dealing wit... |
ICGNet: A Unified Approach for Instance-Centric Grasping | https://ieeexplore.ieee.org/document/10611725/ | [
"René Zurbrügg",
"Yifan Liu",
"Francis Engelmann",
"Suryansh Kumar",
"Marco Hutter",
"Vaishakh Patil",
"Fisher Yu",
"René Zurbrügg",
"Yifan Liu",
"Francis Engelmann",
"Suryansh Kumar",
"Marco Hutter",
"Vaishakh Patil",
"Fisher Yu"
] | Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the geometric properties of individual objects to find feasible grasps. These grasps need to be compliant with the local object geometry. Second, for each proposed ... |
The Grasp Reset Mechanism: An Automated Apparatus for Conducting Grasping Trials | https://ieeexplore.ieee.org/document/10610892/ | [
"Kyle DuFrene",
"Keegan Nave",
"Joshua Campbell",
"Ravi Balasubramanian",
"Cindy Grimm",
"Kyle DuFrene",
"Keegan Nave",
"Joshua Campbell",
"Ravi Balasubramanian",
"Cindy Grimm"
] | Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully automated apparatus for conducting large-scale grasping trials. The GRM automates the process of resetting a grasping environment, repeatably placing an object in ... |
Model-Based Runtime Monitoring with Interactive Imitation Learning | https://ieeexplore.ieee.org/document/10611038/ | [
"Huihan Liu",
"Shivin Dass",
"Roberto Martín-Martín",
"Yuke Zhu",
"Huihan Liu",
"Shivin Dass",
"Roberto Martín-Martín",
"Yuke Zhu"
] | Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not combat-ready for high-stakes tasks. Recent advances in interactive imitation learning have presented a promising framework for human-robot teaming, enabling the ... |
The Fractal Hand–I: A Non-anthropomorphic, but Synergistic, Adaptable Gripper | https://ieeexplore.ieee.org/document/10610687/ | [
"Joel W. Burdick",
"Malcolm Tisdale",
"Joel W. Burdick",
"Malcolm Tisdale"
] | We introduce a novel Fractal Hand robotic gripper. The hand has only 1 actuator, but (2n+1 −1) joints, where a design parameter n defines the depth of the fingers’ tree structures. The hand is synergistic in its operation (because its joint movements are coupled through the hand’s interaction with the grasped object), but it is not anthropomorphic. The basic finger and hand geometry, governing kin... |
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