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Aligning Knowledge Graph with Visual Perception for Object-goal Navigation | https://ieeexplore.ieee.org/document/10610980/ | [
"Nuo Xu",
"Wen Wang",
"Rong Yang",
"Mengjie Qin",
"Zheyuan Lin",
"Wei Song",
"Chunlong Zhang",
"Jason Gu",
"Chao Li",
"Nuo Xu",
"Wen Wang",
"Rong Yang",
"Mengjie Qin",
"Zheyuan Lin",
"Wei Song",
"Chunlong Zhang",
"Jason Gu",
"Chao Li"
] | Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful object finding. However, existing knowledge-graph-based navigators often rely on discrete categorical one-hot vectors and vote counting strategy to construct graph ... |
Probable Object Location (POLo) Score Estimation for Efficient Object Goal Navigation | https://ieeexplore.ieee.org/document/10610671/ | [
"Jiaming Wang",
"Harold Soh",
"Jiaming Wang",
"Harold Soh"
] | In this work, we focus on object search tasks within unexplored environments. We introduce a framework centered around the Probable Object Location (POLo) score. Utilizing a 3D object probability map, the POLo score allows the agent to make data-driven decisions for efficient object search. We further enhance the framework’s practicality by introducing POLoNet, a neural network trained to approxim... |
Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill | https://ieeexplore.ieee.org/document/10610499/ | [
"Wenzhe Cai",
"Siyuan Huang",
"Guangran Cheng",
"Yuxing Long",
"Peng Gao",
"Changyin Sun",
"Hao Dong",
"Wenzhe Cai",
"Siyuan Huang",
"Guangran Cheng",
"Yuxing Long",
"Peng Gao",
"Changyin Sun",
"Hao Dong"
] | Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the locomotion part, most works still depend on map-based planning approaches. The gap between RGB space and map space makes it difficult to directly transfer the knowledge... |
ViPlanner: Visual Semantic Imperative Learning for Local Navigation | https://ieeexplore.ieee.org/document/10610025/ | [
"Pascal Roth",
"Julian Nubert",
"Fan Yang",
"Mayank Mittal",
"Marco Hutter",
"Pascal Roth",
"Julian Nubert",
"Fan Yang",
"Mayank Mittal",
"Marco Hutter"
] | Real-time path planning in outdoor environments still challenges modern robotic systems due to differences in terrain traversability, diverse obstacles, and the necessity for fast decision-making. Established approaches have primarily focused on geometric navigation solutions, which work well for structured geometric obstacles but have limitations regarding the semantic interpretation of different... |
UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning | https://ieeexplore.ieee.org/document/10611203/ | [
"Xiaomin Lin",
"Nare Karapetyan",
"Kaustubh Joshi",
"Tianchen Liu",
"Nikhil Chopra",
"Miao Yu",
"Pratap Tokekar",
"Yiannis Aloimonos",
"Xiaomin Lin",
"Nare Karapetyan",
"Kaustubh Joshi",
"Tianchen Liu",
"Nikhil Chopra",
"Miao Yu",
"Pratap Tokekar",
"Yiannis Aloimonos"
] | Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient, accurate localization system. We introduce UIVNAV, a novel end-to-end underwater navigation solution designed to navigate robots over Objects of Interest (OOI) while avoiding obstacles, all without relying on localization. UIVNAV utilizes imitation learni... |
A Biomorphic Whisker Sensor for Aerial Tactile Applications | https://ieeexplore.ieee.org/document/10610850/ | [
"Chaoxiang Ye",
"Guido De Croon",
"Salua Hamaza",
"Chaoxiang Ye",
"Guido De Croon",
"Salua Hamaza"
] | Unmanned air vehicles (UAVs) have traditionally been considered as "eyes in the sky", that can move in three dimensions and need to avoid any contact with their environment. On the contrary, contact should not be considered as a problem, but as an opportunity to expand the range of UAVs applications. In this paper, we designed, fabricated, and characterized a whisker sensor unit based on MEMS baro... |
Embedded air channels transform soft lattices into sensorized grippers | https://ieeexplore.ieee.org/document/10610187/ | [
"Annan Zhang",
"Lillian Chin",
"Daniel L. Tong",
"Daniela Rus",
"Annan Zhang",
"Lillian Chin",
"Daniel L. Tong",
"Daniela Rus"
] | Sensing plays a pivotal role in robotic manipulation, dictating the accuracy and versatility with which objects are handled. Vision-based sensing methods often suffer from fabrication complexity and low durability, while approaches that rely on direct measurements on the gripper often have limited resolution and are difficult to scale. Here, we present a soft robotic gripper made out of two cubic ... |
Design of A Rigid-soft Hybrid Robotic Glove with Force Sensing Function | https://ieeexplore.ieee.org/document/10610415/ | [
"Hexin Li",
"Li Jiang",
"Ruichen Zhen",
"Ming Cheng",
"Kehan Ding",
"Hexin Li",
"Li Jiang",
"Ruichen Zhen",
"Ming Cheng",
"Kehan Ding"
] | Soft robotic gloves can not only provide timely, effective, safe and cheap rehabilitation training for patients with impaired movement function of hand, but also assist in completing daily grasping activities. However, most soft robotic gloves are completely composed of flexible structures. Although they have high flexibility and safety, there are problems such as poor fit and low output force. In... |
Capacitive Origami Sensing Modules for Measuring Force in a Neurosurgical, Soft Robotic Retractor | https://ieeexplore.ieee.org/document/10610863/ | [
"Daniel Van Lewen",
"Catherine Wang",
"Hun Chan Lee",
"Anand Devaiah",
"Urvashi Upadhyay",
"Sheila Russo",
"Daniel Van Lewen",
"Catherine Wang",
"Hun Chan Lee",
"Anand Devaiah",
"Urvashi Upadhyay",
"Sheila Russo"
] | In neurosurgery, soft robots have the potential to introduce significant benefits over traditional metal tools for their ability to safely interact with delicate tissues. In this paper, we introduce a proof-of-concept soft, capacitive origami sensing module (OSM) that can measure forces during neurosurgical retraction. Using origami-inspired design and fabrication principles, the OSM is easily fol... |
A soft miniaturized continuum robot with 3D shape sensing via functionalized soft optical waveguides | https://ieeexplore.ieee.org/document/10611549/ | [
"Viola Del Bono",
"Max McCandless",
"Frank Julia Wise",
"Sheila Russo",
"Viola Del Bono",
"Max McCandless",
"Frank Julia Wise",
"Sheila Russo"
] | In this paper, we present a fully soft miniaturized continuum robot that integrates 3D optical shape sensing through functionalized tubing used as soft optical waveguides. The sensor is fabricated by laser patterning an off-the-shelf medical tubing, allowing for bidirectional responses to large curvatures in two bending directions, enabling 3D shape sensing and tip tracking of the continuum robot.... |
Continuously Estimate and Control Prosthetic Grip Force by an Optical Waveguide Sensor | https://ieeexplore.ieee.org/document/10610613/ | [
"Linhang Ju",
"Hanze Jia",
"Yanjun Shi",
"Xilun Ding",
"Yanggang Feng",
"Wuxiang Zhang",
"Linhang Ju",
"Hanze Jia",
"Yanjun Shi",
"Xilun Ding",
"Yanggang Feng",
"Wuxiang Zhang"
] | The emergence of intelligent prostheses has facilitated the life and work of disabled patients. The interaction aspect of prostheses has become a highlight research topic in the field of rehabilitation robotics. However, most of the existing prosthetic interaction methods focus on the use of myoelectricity to classify finite gestures, rather than continuous (infinite) force detection, which greatl... |
UAV-Sim: NeRF-based Synthetic Data Generation for UAV-based Perception | https://ieeexplore.ieee.org/document/10611523/ | [
"Christopher Maxey",
"Jaehoon Choi",
"Hyungtae Lee",
"Dinesh Manocha",
"Heesung Kwon",
"Christopher Maxey",
"Jaehoon Choi",
"Hyungtae Lee",
"Dinesh Manocha",
"Heesung Kwon"
] | Tremendous variations coupled with large degrees of freedom in UAV-based imaging conditions lead to a significant lack of data in adequately learning UAV-based perception models. Using various synthetic renderers in conjunction with perception models is prevalent to create synthetic data to augment the learning in the ground-based imaging domain. However, severe challenges in the austere UAV-based... |
Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight | https://ieeexplore.ieee.org/document/10610095/ | [
"Jiaxu Xing",
"Leonard Bauersfeld",
"Yunlong Song",
"Chunwei Xing",
"Davide Scaramuzza",
"Jiaxu Xing",
"Leonard Bauersfeld",
"Yunlong Song",
"Chunwei Xing",
"Davide Scaramuzza"
] | Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab environment. Existing scene transfer end-to-end policy learning approaches often suffer from poor sample efficiency or limited generalization capabilities, making them u... |
Watching the Air Rise: Learning-Based Single-Frame Schlieren Detection | https://ieeexplore.ieee.org/document/10611416/ | [
"Florian Achermann",
"Julian Andreas Haug",
"Tobias Zumsteg",
"Nicholas Lawrance",
"Jen Jen Chung",
"Andrey Kolobov",
"Roland Siegwart",
"Florian Achermann",
"Julian Andreas Haug",
"Tobias Zumsteg",
"Nicholas Lawrance",
"Jen Jen Chung",
"Andrey Kolobov",
"Roland Siegwart"
] | Detecting air flows caused by phenomena such as heat convection is valuable in multiple scenarios, including leak identification and locating thermal updrafts for extending UAV flight duration. Unfortunately, the heat signature of these flows is often too subtle to be seen by a thermal camera. While convection also leads to fluctuations in air density and hence causes so-called schlieren – intensi... |
High-throughput Visual Nano-drone to Nano-drone Relative Localization using Onboard Fully Convolutional Networks | https://ieeexplore.ieee.org/document/10611455/ | [
"Luca Crupi",
"Alessandro Giusti",
"Daniele Palossi",
"Luca Crupi",
"Alessandro Giusti",
"Daniele Palossi"
] | Relative drone-to-drone localization is a fundamental building block for any swarm operations. We address this task in the context of miniaturized nano-drones, i.e., ∼10cm in diameter, which show an ever-growing interest due to novel use cases enabled by their reduced form factor. The price for their versatility comes with limited onboard resources, i.e., sensors, processing units, and memory, whi... |
End-to-End Semi-Supervised 3D Instance Segmentation with PCTeacher | https://ieeexplore.ieee.org/document/10610145/ | [
"Linfeng Li",
"Na Zhao",
"Linfeng Li",
"Na Zhao"
] | 3D instance segmentation is a fundamental and critical task for enabling robots to operate effectively in unstructured 3D environments. In order to address the challenges posed by the high demand for large-scale annotated data and the limited availability of such data in the context of 3D instance segmentation, we study semi-supervised 3D instance segmentation problem and propose a novel end-to-en... |
GAM-Depth: Self-Supervised Indoor Depth Estimation Leveraging a Gradient-Aware Mask and Semantic Constraints | https://ieeexplore.ieee.org/document/10610653/ | [
"Anqi Cheng",
"Zhiyuan Yang",
"Haiyue Zhu",
"Kezhi Mao",
"Anqi Cheng",
"Zhiyuan Yang",
"Haiyue Zhu",
"Kezhi Mao"
] | Self-supervised depth estimation has evolved into an image reconstruction task that minimizes a photometric loss. While recent methods have made strides in indoor depth estimation, they often produce inconsistent depth estimation in textureless areas and unsatisfactory depth discrepancies at object boundaries. To address these issues, in this work, we propose GAM-Depth, developed upon two novel co... |
RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation | https://ieeexplore.ieee.org/document/10611423/ | [
"Yang Tian",
"Jiyao Zhang",
"Guowei Huang",
"Bin Wang",
"Ping Wang",
"Jiangmiao Pang",
"Hao Dong",
"Yang Tian",
"Jiyao Zhang",
"Guowei Huang",
"Bin Wang",
"Ping Wang",
"Jiangmiao Pang",
"Hao Dong"
] | Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration. However, the introduction of unknown joint angles makes prediction more complex than simple robot pose estimation, due to its higher dimensionality. Previous methods either regress 3D keypoints directly or utilise a render&compare strategy. The... |
Advancements in 3D Lane Detection Using LiDAR Point Clouds: From Data Collection to Model Development | https://ieeexplore.ieee.org/document/10610087/ | [
"Runkai Zhao",
"Yuwen Heng",
"Heng Wang",
"Yuanda Gao",
"Shilei Liu",
"Changhao Yao",
"Jiawen Chen",
"Weidong Cai",
"Runkai Zhao",
"Yuwen Heng",
"Heng Wang",
"Yuanda Gao",
"Shilei Liu",
"Changhao Yao",
"Jiawen Chen",
"Weidong Cai"
] | Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is hindered by the lack of comprehensive LiDAR datasets. The sparse nature of LiDAR point cloud data prevents an efficient manual annotation process. To solve this p... |
STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines | https://ieeexplore.ieee.org/document/10611585/ | [
"Yuxuan Kuang",
"Qin Han",
"Danshi Li",
"Qiyu Dai",
"Lian Ding",
"Dong Sun",
"Hanlin Zhao",
"He Wang",
"Yuxuan Kuang",
"Qin Han",
"Danshi Li",
"Qiyu Dai",
"Lian Ding",
"Dong Sun",
"Hanlin Zhao",
"He Wang"
] | In this work, we present STOPNet, a framework for 6-DoF object suction detection on production lines, with a focus on but not limited to transparent objects, which is an important and challenging problem in robotic systems and modern industry. Current methods requiring depth input fail on transparent objects due to depth cameras’ deficiency in sensing their geometry, while we proposed a novel fram... |
RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation | https://ieeexplore.ieee.org/document/10611409/ | [
"Mel Vecerik",
"Carl Doersch",
"Yi Yang",
"Todor Davchev",
"Yusuf Aytar",
"Guangyao Zhou",
"Raia Hadsell",
"Lourdes Agapito",
"Jon Scholz",
"Mel Vecerik",
"Carl Doersch",
"Yi Yang",
"Todor Davchev",
"Yusuf Aytar",
"Guangyao Zhou",
"Raia Hadsell",
"Lourdes Agapito",
"Jon Scholz"
] | For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the data-efficiency to do so in an amount of time that enables practical use. In this work we explore dense tracking as a representational vehicle to allow faster a... |
Learning Extrinsic Dexterity with Parameterized Manipulation Primitives | https://ieeexplore.ieee.org/document/10611431/ | [
"Shih-Min Yang",
"Martin Magnusson",
"Johannes A. Stork",
"Todor Stoyanov",
"Shih-Min Yang",
"Martin Magnusson",
"Johannes A. Stork",
"Todor Stoyanov"
] | Many practically relevant robot grasping problems feature a target object for which all grasps are occluded, e.g., by the environment. Single-shot grasp planning invariably fails in such scenarios. Instead, it is necessary to first manipulate the object into a configuration that affords a grasp. We solve this problem by learning a sequence of actions that utilize the environment to change the obje... |
Learning active manipulation to target shapes with model-free, long-horizon deep reinforcement learning | https://ieeexplore.ieee.org/document/10610033/ | [
"Matias Sivertsvik",
"Kirill Sumskiy",
"Ekrem Misimi",
"Matias Sivertsvik",
"Kirill Sumskiy",
"Ekrem Misimi"
] | We investigate the active manipulation of objects using model-free and long-horizon DRL (Deep Reinforcement Learning) to achieve target shapes. Our proposed approach uses visual observations consisting of segmented images, to mitigate the sim-to-real gap. We address a long-horizon manipulation task requiring a sequence of accurate actions to achieve the target shapes using a robot arm with an RGB-... |
GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects | https://ieeexplore.ieee.org/document/10610652/ | [
"Qiaojun Yu",
"Junbo Wang",
"Wenhai Liu",
"Ce Hao",
"Liu Liu",
"Lin Shao",
"Weiming Wang",
"Cewu Lu",
"Qiaojun Yu",
"Junbo Wang",
"Wenhai Liu",
"Ce Hao",
"Liu Liu",
"Lin Shao",
"Weiming Wang",
"Cewu Lu"
] | Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior works mostly focused on recognizing and manipulating articulated objects with specific joint types. They can either estimate the joint parameters or distinguis... |
Efficient End-to-End Detection of 6-DoF Grasps for Robotic Bin Picking | https://ieeexplore.ieee.org/document/10611417/ | [
"Yushi Liu",
"Alexander Qualmann",
"Zehao Yu",
"Miroslav Gabriel",
"Philipp Schillinger",
"Markus Spies",
"Ngo Anh Vien",
"Andreas Geiger",
"Yushi Liu",
"Alexander Qualmann",
"Zehao Yu",
"Miroslav Gabriel",
"Philipp Schillinger",
"Markus Spies",
"Ngo Anh Vien",
"Andreas Geiger"
] | Bin picking is an important building block for many robotic systems, in logistics, production or in household use-cases. In recent years, machine learning methods for the prediction of 6-DoF grasps on diverse and unknown objects have shown promising progress. However, existing approaches only consider a single ground truth grasp orientation at a grasp location during training and therefore can onl... |
Contact Energy Based Hindsight Experience Prioritization | https://ieeexplore.ieee.org/document/10610910/ | [
"Erdi Sayar",
"Zhenshan Bing",
"Carlo D’Eramo",
"Ozgur S. Oguz",
"Alois Knoll",
"Erdi Sayar",
"Zhenshan Bing",
"Carlo D’Eramo",
"Ozgur S. Oguz",
"Alois Knoll"
] | Multi-goal robot manipulation tasks with sparse rewards are difficult for reinforcement learning (RL) algorithms due to the inefficiency in collecting successful experiences. Recent algorithms such as Hindsight Experience Replay (HER) expedite learning by taking advantage of failed trajectories and replacing the desired goal with one of the achieved states so that any failed trajectory can be util... |
ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera | https://ieeexplore.ieee.org/document/10611152/ | [
"Jun Shi",
"Yong A",
"Yixiang Jin",
"Dingzhe Li",
"Haoyu Niu",
"Zhezhu Jin",
"He Wang",
"Jun Shi",
"Yong A",
"Yixiang Jin",
"Dingzhe Li",
"Haoyu Niu",
"Zhezhu Jin",
"He Wang"
] | In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the first time, we propose ASGrasp, a 6-DoF grasp detection network that uses an RGB-D active stereo camera. ASGrasp utilizes a two-layer learning-based stereo net... |
An offline learning of behavior correction policy for vision-based robotic manipulation | https://ieeexplore.ieee.org/document/10610177/ | [
"Qingxiuxiong Dong",
"Toshimitsu Kaneko",
"Masashi Sugiyama",
"Qingxiuxiong Dong",
"Toshimitsu Kaneko",
"Masashi Sugiyama"
] | Offline learning usually requires a large dataset for training. In this paper, we focus on vision-based robotic manipulation tasks and utilize certain task properties to achieve offline learning with a small dataset. We propose a two-stage agent consisting of a tentative decision stage and a correction stage, where the tentative decision stage determines a tentative action from the original camera... |
Toward Grounded Commonsense Reasoning | https://ieeexplore.ieee.org/document/10611218/ | [
"Minae Kwon",
"Hengyuan Hu",
"Vivek Myers",
"Siddharth Karamcheti",
"Anca Dragan",
"Dorsa Sadigh",
"Minae Kwon",
"Hengyuan Hu",
"Vivek Myers",
"Siddharth Karamcheti",
"Anca Dragan",
"Dorsa Sadigh"
] | Consider a robot tasked with tidying a desk with a meticulously constructed Lego sports car. A human may recognize that it is not appropriate to disassemble the sports car and put it away as part of the "tidying." How can a robot reach that conclusion? Although large language models (LLMs) have recently been used to enable commonsense reasoning, grounding this reasoning in the real world has been ... |
The effect of rejection strategy on trust and shopping choices in robot-assisted shopping * | https://ieeexplore.ieee.org/document/10611366/ | [
"Matthias Rehm",
"Antonia L. Krummheuer",
"Carlos G. Cubero",
"Matthias Rehm",
"Antonia L. Krummheuer",
"Carlos G. Cubero"
] | In this paper, we investigate how a customer-facing service robot can support decision making in shopping interactions. In this role, a robot needs sometimes to reject a customer’s choice. Thus, we investigate different rejection strategies with the goal of changing customer behavior. The implemented strategies have been developed based on an ethnographic study on assisted shopping and tested in a... |
Planning of Explanations for Robot Navigation | https://ieeexplore.ieee.org/document/10611000/ | [
"Amar Halilovic",
"Senka Krivic",
"Amar Halilovic",
"Senka Krivic"
] | The choices made by autonomous robots in social settings bear consequences for humans and their presumptions of robot behavior. Explanations can serve to alleviate detrimental impacts on humans and amplify their comprehension of robot decisions. We model the process of explanation generation for robot navigation as an automated planning problem considering different possible explanation attributes... |
Learning Crowd Behaviors in Navigation with Attention-based Spatial-Temporal Graphs | https://ieeexplore.ieee.org/document/10610279/ | [
"Yanying Zhou",
"Jochen Garcke",
"Yanying Zhou",
"Jochen Garcke"
] | Safe and efficient navigation in dynamic environments shared with humans remains an open and challenging task for mobile robots. Previous works have shown the efficacy of using reinforcement learning frameworks to train policies for efficient navigation. However, their performance deteriorates when crowd configurations change, i.e. become larger or more complex. Thus, it is crucial to fully unders... |
Grounding Conversational Robots on Vision Through Dense Captioning and Large Language Models | https://ieeexplore.ieee.org/document/10611232/ | [
"Lucrezia Grassi",
"Zhouyang Hong",
"Carmine Tommaso Recchiuto",
"Antonio Sgorbissa",
"Lucrezia Grassi",
"Zhouyang Hong",
"Carmine Tommaso Recchiuto",
"Antonio Sgorbissa"
] | This work explores a novel approach to empowering robots with visual perception capabilities using textual descriptions. Our approach involves the integration of GPT-4 with dense captioning, enabling robots to perceive and interpret the visual world through detailed text-based descriptions. To assess both user experience and the technical feasibility of this approach, experiments were conducted wi... |
Exploring the Impact of Narrator Type on Response Latency and Utterance Length During Interactive Storytelling | https://ieeexplore.ieee.org/document/10610817/ | [
"Iman Bakhoda",
"Pourya Shahverdi",
"Katelyn Rousso",
"Justin Klotz",
"Wing-Yue Geoffrey Louie",
"Iman Bakhoda",
"Pourya Shahverdi",
"Katelyn Rousso",
"Justin Klotz",
"Wing-Yue Geoffrey Louie"
] | The inexorable progress of technology brought forth an era where robots increasingly integrate into human life which necessitates the understanding of human-robot interactions (HRI). This study unravels the details of HRI within interactive storytelling contexts. Through a between-subject experiment with 28 participants, we assessed response latency and utterance lengths to interactive story narra... |
Design of Embodied Mediator Haru for Remote Cross Cultural Communication | https://ieeexplore.ieee.org/document/10611253/ | [
"Randy Gomez",
"Deborah Szapiro",
"Sara Cooper",
"Nabil Bougria",
"Guillermo Pérez",
"Eric Nichols",
"Javier Giménez-Figueroa",
"Jose M. Perez-Moleron",
"Matthew Peavy",
"Daniel Serrano",
"Luis Merino",
"Randy Gomez",
"Deborah Szapiro",
"Sara Cooper",
"Nabil Bougria",
"Guillermo Pérez",
"Eric Nichols",
"Javier Giménez-Figueroa",
"Jose M. Perez-Moleron",
"Matthew Peavy",
"Daniel Serrano",
"Luis Merino"
] | Social robots for children have focused mainly on conventional education domains such as teaching language, science, and math, while applications focusing on the enhancement of cultural competency are quite scarce. In this paper, we present a prototype of a robot-mediation framework for cross-cultural communication. This framework paves the way for a social robot to act as a mediator between group... |
ChatAdp: ChatGPT-powered Adaptation System for Human-Robot Interaction | https://ieeexplore.ieee.org/document/10611520/ | [
"Zhidong Su",
"Weihua Sheng",
"Zhidong Su",
"Weihua Sheng"
] | Different people have different preferences when it comes to human-robot interaction. Therefore, it is desirable for the robot to adapt its actions to fit users’ preferences. Human feedback is essential to facilitating robot adaptation. However, when the task is complex or the robot action space is large, it requires a large amount of user feedback. ChatGPT is a powerful generative AI tool based o... |
The Impact of Evolutionary Computation on Robotic Design: A Case Study with an Underactuated Hand Exoskeleton | https://ieeexplore.ieee.org/document/10611070/ | [
"Baris Akbas",
"Huseyin Taner Yuksel",
"Aleyna Soylemez",
"Mazhar Eid Zyada",
"Mine Sarac",
"Fabio Stroppa",
"Baris Akbas",
"Huseyin Taner Yuksel",
"Aleyna Soylemez",
"Mazhar Eid Zyada",
"Mine Sarac",
"Fabio Stroppa"
] | Robotic exoskeletons can enhance human strength and aid people with physical disabilities. However, designing them to ensure safety and optimal performance presents significant challenges. Developing exoskeletons should incorporate specific optimization algorithms to find the best design. This study investigates the potential of Evolutionary Computation (EC) methods in robotic design optimization,... |
Design & Systematic Evaluation of Power Transmission Efficiency of an Ankle Exoskeleton for Walking Post-Stroke | https://ieeexplore.ieee.org/document/10610736/ | [
"Myles Cooper",
"Santiago Canete",
"Asa Eckert-Erdheim",
"Aidan Kimberley",
"Christopher Siviy",
"Teresa Baker",
"Terry D. Ellis",
"Patrick Slade",
"Conor J. Walsh",
"Myles Cooper",
"Santiago Canete",
"Asa Eckert-Erdheim",
"Aidan Kimberley",
"Christopher Siviy",
"Teresa Baker",
"Terry D. Ellis",
"Patrick Slade",
"Conor J. Walsh"
] | Community-based locomotor training post-stroke has shown improvements in independent ambulation by increasing dose, intensity, and specificity of walking practice. Robotic ankle exoskeletons hold the potential to facilitate continued rehabilitation at home, but understanding what aspects of the design are most relevant for successful translation to the community presents a challenge. Here, we desi... |
Achieving Mechanical Transparency Using Fusion Hybrid Linear Actuator for Shoulder Flexion and Extension in Exoskeleton Robot | https://ieeexplore.ieee.org/document/10611131/ | [
"Takuma Shimoyama",
"Tomoyuki Noda",
"Tatsuya Teramae",
"Yoshihiro Nakata",
"Takuma Shimoyama",
"Tomoyuki Noda",
"Tatsuya Teramae",
"Yoshihiro Nakata"
] | Recently, the importance of mechanical transparency in human-assistive robots has grown. Traditionally, its primary goal was minimizing interaction forces during assistance. However, under this conventional definition, mechanical transparency was not considered when an interaction force was required during assistance. This research focuses on achieving mechanical transparency within the context of... |
An adaptable ankle trajectory generation method for lower-limb exoskeletons by means of safety constraints computation and minimum jerk planning | https://ieeexplore.ieee.org/document/10610191/ | [
"Raffaele Giannattasio",
"Stefano Maludrottu",
"Gaia Zinni",
"Elena De Momi",
"Matteo Laffranchi",
"Lorenzo De Michieli",
"Raffaele Giannattasio",
"Stefano Maludrottu",
"Gaia Zinni",
"Elena De Momi",
"Matteo Laffranchi",
"Lorenzo De Michieli"
] | This paper presents a method to compute smooth ankle trajectories for lower limb exoskeletons with powered ankle joints. The proposed approach defines ankle trajectories using four polynomial functions, each representing one of the four primary phases of gait. These polynomials are computed according to different safety constraints. During the single support phase, ground contact constraints are e... |
Controlling FES of arm movements using physics-informed reinforcement learning via co-kriging adjustment | https://ieeexplore.ieee.org/document/10610521/ | [
"Nat Wannawas",
"Clara Diaz-Pintado",
"Jyotindra Narayan",
"A. Aldo Faisal",
"Nat Wannawas",
"Clara Diaz-Pintado",
"Jyotindra Narayan",
"A. Aldo Faisal"
] | Upper limb paralysis affects the quality of life. Functional Electrical Stimulation (FES) offers a solution to restore lost motor functions. Yet, there remain challenges in controlling FES to induce arbitrary arm movements. Reinforcement learning (RL) emerges as a promising method for controlling arm movement with success in simulation. However, challenges remain in translating the successes into ... |
Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study | https://ieeexplore.ieee.org/document/10611133/ | [
"Andreas Christou",
"Antonio J. Del-Ama",
"Juan C. Moreno",
"Sethu Vijayakumar",
"Andreas Christou",
"Antonio J. Del-Ama",
"Juan C. Moreno",
"Sethu Vijayakumar"
] | The hybridisation of robot-assisted gait training and functional electrical stimulation (FES) can provide numerous physiological benefits to neurological patients. However, the design of an effective hybrid controller poses significant challenges. In this over-actuated system, it is extremely difficult to find the right balance between robotic assistance and FES that will provide personalised assi... |
Stretch with Stretch: Physical Therapy Exercise Games Led by a Mobile Manipulator | https://ieeexplore.ieee.org/document/10611524/ | [
"Matthew Lamsey",
"You Liang Tan",
"Meredith D. Wells",
"Madeline Beatty",
"Zexuan Liu",
"Arjun Majumdar",
"Kendra Washington",
"Jerry Feldman",
"Naveen Kuppuswamy",
"Elizabeth Nguyen",
"Arielle Wallenstein",
"Madeleine E. Hackney",
"Charles C. Kemp",
"Matthew Lamsey",
"You Liang Tan",
"Meredith D. Wells",
"Madeline Beatty",
"Zexuan Liu",
"Arjun Majumdar",
"Kendra Washington",
"Jerry Feldman",
"Naveen Kuppuswamy",
"Elizabeth Nguyen",
"Arielle Wallenstein",
"Madeleine E. Hackney",
"Charles C. Kemp"
] | Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson’s disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential to support physical therapists and increase adherence to self-guided PT, but prior robotic systems have been large and immobile, which can be a barrier to use ... |
Robot Trajectron: Trajectory Prediction-based Shared Control for Robot Manipulation | https://ieeexplore.ieee.org/document/10611507/ | [
"Pinhao Song",
"Pengteng Li",
"Erwin Aertbeliën",
"Renaud Detry",
"Pinhao Song",
"Pengteng Li",
"Erwin Aertbeliën",
"Renaud Detry"
] | We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion’s onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, by reducing the operator’s cognitive load through assistance in their anticipated direction of motion. Our novel intent estimator, dubbed the Robot Trajectron (RT), produces a probabilisti... |
On the Feasibility of EEG-based Motor Intention Detection for Real-Time Robot Assistive Control | https://ieeexplore.ieee.org/document/10610321/ | [
"Ho Jin Choi",
"Satyajeet Das",
"Shaoting Peng",
"Ruzena Bajcsy",
"Nadia Figueroa",
"Ho Jin Choi",
"Satyajeet Das",
"Shaoting Peng",
"Ruzena Bajcsy",
"Nadia Figueroa"
] | This paper explores the feasibility of employing EEG-based intention detection for real-time robot assistive control. We focus on predicting and distinguishing motor intentions of left/right arm movements by presenting: i) an offline data collection and training pipeline, used to train a classifier for left/right motion intention prediction, and ii) an online real-time prediction pipeline leveragi... |
Microexpression to Macroexpression: Facial Expression Magnification by Single Input | https://ieeexplore.ieee.org/document/10610258/ | [
"Yaqi Song",
"Tong Chen",
"Shigang Li",
"Jianfeng Li",
"Yaqi Song",
"Tong Chen",
"Shigang Li",
"Jianfeng Li"
] | Microexpressions are expressions that people inadvertently express, and therefore often represent a person’s true emotion. However, because it has a low intensity and a short duration, it is hard to be recognized correctly. In this paper, we propose a deep learning magnification method to generate macroexpressions from a single microexpression image. In the first stage, we extract the expression i... |
Looking Inside Out: Anticipating Driver Intent From Videos | https://ieeexplore.ieee.org/document/10610257/ | [
"Yung-Chi Kung",
"Arthur Zhang",
"Junmin Wang",
"Joydeep Biswas",
"Yung-Chi Kung",
"Arthur Zhang",
"Junmin Wang",
"Joydeep Biswas"
] | Anticipating driver intention is an important task when vehicles of mixed and varying levels of human/machine autonomy share roadways. Driver intention can be leveraged to improve road safety, such as warning surrounding vehicles in the event the driver is attempting a dangerous maneuver. In this work, we propose a novel method of utilizing both in-cabin and external camera data to improve state-o... |
CARTIER: Cartographic lAnguage Reasoning Targeted at Instruction Execution for Robots | https://ieeexplore.ieee.org/document/10610072/ | [
"Dmitriy Rivkin",
"Nikhil Kakodkar",
"Francois Hogan",
"Bobak H. Baghi",
"Gregory Dudek",
"Dmitriy Rivkin",
"Nikhil Kakodkar",
"Francois Hogan",
"Bobak H. Baghi",
"Gregory Dudek"
] | This work explores the capacity of large language models (LLMs) to address problems at the intersection of spatial planning and natural language interfaces for navigation. We focus on following complex instructions that are more akin to natural conversation than traditional explicit procedural directives typically seen in robotics. Unlike most prior work where navigation directives are provided as... |
A Novel Benchmarking Paradigm and a Scale- and Motion-Aware Model for Egocentric Pedestrian Trajectory Prediction | https://ieeexplore.ieee.org/document/10610614/ | [
"Amir Rasouli",
"Amir Rasouli"
] | In this paper, we present a new paradigm for evaluating egocentric pedestrian trajectory prediction algorithms. Based on various contextual information, we extract driving scenarios for a meaningful and systematic approach to identifying challenges for prediction models. In this regard, we also propose a new metric for more effective ranking within the scenario-based evaluation. We conduct extensi... |
A 3D Vector Field and Gaze Data Fusion Framework for Hand Motion Intention Prediction in Human-Robot Collaboration | https://ieeexplore.ieee.org/document/10609996/ | [
"Maleen Jayasuriya",
"Gibson Hu",
"Dinh Dang Khoa Le",
"Karyne Ang",
"Shankar Sankaran",
"Dikai Liu",
"Maleen Jayasuriya",
"Gibson Hu",
"Dinh Dang Khoa Le",
"Karyne Ang",
"Shankar Sankaran",
"Dikai Liu"
] | In human-robot collaboration (HRC) settings, hand motion intention prediction (HMIP) plays a pivotal role in ensuring prompt decision-making, safety, and an intuitive collaboration experience. Precise and robust HMIP with low computational resources remains a challenge due to the stochastic nature of hand motion and the diversity of HRC tasks. This paper proposes a framework that combines hand tra... |
Contrastive Learning-Based Attribute Extraction Method for Enhanced Terrain Classification | https://ieeexplore.ieee.org/document/10611271/ | [
"Xiao Liu",
"Hongjin Chen",
"Haoyao Chen",
"Xiao Liu",
"Hongjin Chen",
"Haoyao Chen"
] | The outdoor environment has many uneven surfaces that put the robot at risk of sinking or tipping over. Recognizing the type of terrain can help robot avoid risks and choose an appropriate gait. One of the critical problems is how to extract the terrain-related knowledge from sensor data collected as the robot traversed the ground. Many existing vision-based approaches are limited in directly perc... |
3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM | https://ieeexplore.ieee.org/document/10610233/ | [
"Jing-Chen Peng",
"Shaoxiong Yao",
"Kris Hauser",
"Jing-Chen Peng",
"Shaoxiong Yao",
"Kris Hauser"
] | Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local contacts change the global surface shape significantly due to membrane mechanics and air pressure. This paper presents a model-based method of reconstructing dense co... |
A Detachable FBG-Based Contact Force Sensor for Capturing Gripper-Vegetable Interactions | https://ieeexplore.ieee.org/document/10611433/ | [
"Wenjie Lai",
"Jiajun Liu",
"Bing Rui Sim",
"Ming Rui Joel Tan",
"Chidanand Hegde",
"Shlomo Magdassi",
"Soo Jay Phee",
"Wenjie Lai",
"Jiajun Liu",
"Bing Rui Sim",
"Ming Rui Joel Tan",
"Chidanand Hegde",
"Shlomo Magdassi",
"Soo Jay Phee"
] | Vertical farming, a sustainable key for urban agriculture, has garnered attention for its land use optimization and enhanced food production capabilities. The adoption of automation in vertical farming is a pivotal response to labor shortages, addressing the need for increased efficiency, particularly in labor-intensive tasks like harvesting. Although soft robotic grippers offer a significant prom... |
SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear | https://ieeexplore.ieee.org/document/10610373/ | [
"Ziwu Song",
"Ran Yu",
"Xuan Zhang",
"Kit Wa Sou",
"Shilong Mu",
"Dengfeng Peng",
"Xiao-Ping Zhang",
"Wenbo Ding",
"Ziwu Song",
"Ran Yu",
"Xuan Zhang",
"Kit Wa Sou",
"Shilong Mu",
"Dengfeng Peng",
"Xiao-Ping Zhang",
"Wenbo Ding"
] | Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better interact with the environment. In this work, we propose a novel multi-modal vision-based tactile sensor, SATac, which can simultaneously perceive information on t... |
Optimizing Multi-Touch Textile and Tactile Skin Sensing Through Circuit Parameter Estimation | https://ieeexplore.ieee.org/document/10610053/ | [
"Bo Ying Su",
"Yuchen Wu",
"Chengtao Wen",
"Changliu Liu",
"Bo Ying Su",
"Yuchen Wu",
"Chengtao Wen",
"Changliu Liu"
] | Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal processing, particularly in achieving both accuracy and speed in dynamic touch sensing. This paper introduces a new framework that poses the touch sensing prob... |
CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction | https://ieeexplore.ieee.org/document/10610014/ | [
"Boxin Xu",
"Luoyan Zhong",
"Grace Zhang",
"Xiaoyu Liang",
"Diego Virtue",
"Rishabh Madan",
"Tapomayukh Bhattacharjee",
"Boxin Xu",
"Luoyan Zhong",
"Grace Zhang",
"Xiaoyu Liang",
"Diego Virtue",
"Rishabh Madan",
"Tapomayukh Bhattacharjee"
] | Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot interaction (pHRI) tasks such as robotic caregiving. Using stretchable fabric and hyper-elastic polymer, CushSense identifies contacts by monitoring capacitive change... |
Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities | https://ieeexplore.ieee.org/document/10610442/ | [
"Osher Azulay",
"Alon Mizrahi",
"Nimrod Curtis",
"Avishai Sintov",
"Osher Azulay",
"Alon Mizrahi",
"Nimrod Curtis",
"Avishai Sintov"
] | Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on simulated data often fail in zero-shot inference and require fine-tuning with real data. In addition, work on high-resolution sensors commonly focus on ones with flat ... |
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg | https://ieeexplore.ieee.org/document/10611307/ | [
"Philip Arm",
"Mayank Mittal",
"Hendrik Kolvenbach",
"Marco Hutter",
"Philip Arm",
"Mayank Mittal",
"Hendrik Kolvenbach",
"Marco Hutter"
] | Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means additional mass and mechanical complexity compared to standard legged robots. In this work, we explore pedipulation - using the legs of a legged robot for manipu... |
An Efficient Model-Based Approach on Learning Agile Motor Skills without Reinforcement | https://ieeexplore.ieee.org/document/10611560/ | [
"Haojie Shi",
"Tingguang Li",
"Qingxu Zhu",
"Jiapeng Sheng",
"Lei Han",
"Max Q.-H. Meng",
"Haojie Shi",
"Tingguang Li",
"Qingxu Zhu",
"Jiapeng Sheng",
"Lei Han",
"Max Q.-H. Meng"
] | Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an efficient model-based learning framework that combines a world model with a policy network. We train a differentiable world model to predict future states and use i... |
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion | https://ieeexplore.ieee.org/document/10611302/ | [
"Xuanqi Zeng",
"Hongbo Zhang",
"Linzhu Yue",
"Zhitao Song",
"Lingwei Zhang",
"Yun-Hui Liu",
"Xuanqi Zeng",
"Hongbo Zhang",
"Linzhu Yue",
"Zhitao Song",
"Lingwei Zhang",
"Yun-Hui Liu"
] | Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data fr... |
Generation of Steady Wheel Gait for Planar X-shaped Walker with Reaction Wheel | https://ieeexplore.ieee.org/document/10610478/ | [
"Fumihiko Asano",
"Taiki Sedoguchi",
"Cong Yan",
"Fumihiko Asano",
"Taiki Sedoguchi",
"Cong Yan"
] | This paper addresses the problem of realizing a novel robotic bipedal locomotion called wheel gait, which is achieved by rotating the stance and swing legs in the same direction. First, a model of a planar 3-DOF X-shaped walker with a reaction wheel is introduced, and the mathematical equations are described. Second, the condition for stabilizing zero dynamics is formulated as the time integral va... |
Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots | https://ieeexplore.ieee.org/document/10611365/ | [
"Kuan-Lun Lu",
"I-Chia Chang",
"Wei-Shun Yu",
"Pei-Chun Lin",
"Kuan-Lun Lu",
"I-Chia Chang",
"Wei-Shun Yu",
"Pei-Chun Lin"
] | We propose a limb trajectory planning method that considers both body and limb dynamics in robots, particularly suitable for those with non-trivial limb mass. To simplify the complexity and computation cost of using the full-body dynamics of the limbs, a reduced-order model that can simulate the dynamic characteristics of the original limb is proposed. The performance of the model is experimentall... |
A Reinforcement Learning-based Control Strategy for Robust Interaction of Robotic Systems with Uncertain Environments | https://ieeexplore.ieee.org/document/10610082/ | [
"Diletta Sacerdoti",
"Federico Benzi",
"Cristian Secchi",
"Diletta Sacerdoti",
"Federico Benzi",
"Cristian Secchi"
] | In the context of interaction with unmodelled systems, it becomes imperative for a robot controller to possess the capability to dynamically adjust its actions in real-time, enhancing its resilience in the face of fluctuating environmental conditions. This adaptation process must be performed in a stability-preserving fashion, and resourcefully exploit the knowledge acquired during the interaction... |
Stiffness-Based Hybrid Motion/ Force Control for Cable-Driven Serpentine Manipulator* | https://ieeexplore.ieee.org/document/10611054/ | [
"Wenshuo Li",
"Wenfu Xu",
"Peisheng Huang",
"Boyang Lin",
"Bin Liang",
"Wenshuo Li",
"Wenfu Xu",
"Peisheng Huang",
"Boyang Lin",
"Bin Liang"
] | In recent years, there has been a growing demand for robotic manipulators to perform tasks in various unstructured environments and situations requiring precision and force control. However, traditional robotic arms have limitations in fully leveraging their advantages in such scenarios. To address this demand, we have designed a cable-driven serpentine manipulator (CDSM) that combines force and p... |
Reinforcement Learning for Reduced-order Models of Legged Robots | https://ieeexplore.ieee.org/document/10610747/ | [
"Yu-Ming Chen",
"Hien Bui",
"Michael Posa",
"Yu-Ming Chen",
"Hien Bui",
"Michael Posa"
] | Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accomplishing many locomotion tasks. Model-free reinforcement learning, on the other hand, has gained much popularity in recent years due to computational advancements. It can achieve high performance in specific tasks, but i... |
K-BMPC: Derivative-based Koopman Bilinear Model Predictive Control For Tractor-trailer Trajectory Tracking With Unknown Parameters | https://ieeexplore.ieee.org/document/10610320/ | [
"Zehao Wang",
"Han Zhang",
"Jingchuan Wang",
"Zehao Wang",
"Han Zhang",
"Jingchuan Wang"
] | Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the origi... |
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning | https://ieeexplore.ieee.org/document/10610416/ | [
"Wei-Cheng Huang",
"Alp Aydinoglu",
"Wanxin Jin",
"Michael Posa",
"Wei-Cheng Huang",
"Alp Aydinoglu",
"Wanxin Jin",
"Michael Posa"
] | The hybrid nature of multi-contact robotic systems, due to making and breaking contact with the environment, creates significant challenges for high-quality control. Existing model-based methods typically rely on either good prior knowledge of the multi-contact model or require significant offline model tuning effort, thus resulting in low adaptability and robustness. In this paper, we propose a r... |
DRIVE: Data-driven Robot Input Vector Exploration | https://ieeexplore.ieee.org/document/10611172/ | [
"Dominic Baril",
"Simon-Pierre Deschênes",
"Luc Coupal",
"Cyril Goffin",
"Julien Lépine",
"Philippe Giguère",
"François Pomerleau",
"Dominic Baril",
"Simon-Pierre Deschênes",
"Luc Coupal",
"Cyril Goffin",
"Julien Lépine",
"Philippe Giguère",
"François Pomerleau"
] | An accurate motion model is a fundamental component of most autonomous navigation systems. While much work has been done on improving model formulation, no standard protocol exists for gathering empirical data required to train models. In this work, we address this issue by proposing Data-driven Robot Input Vector Exploration (DRIVE), a protocol that enables characterizing uncrewed ground vehicles... |
A Force-driven and Vision-driven Hybrid Control Method of Autonomous Laparoscope-Holding Robot | https://ieeexplore.ieee.org/document/10610509/ | [
"Jin Fang",
"Ling Li",
"Xiaojian Li",
"Hangjie Mo",
"Pengxin Guo",
"Xilin Xiao",
"Yanwei Qu",
"Jin Fang",
"Ling Li",
"Xiaojian Li",
"Hangjie Mo",
"Pengxin Guo",
"Xilin Xiao",
"Yanwei Qu"
] | Laparoscope-holding robots significantly enhance the stability and precision of visualization in minimally invasive surgeries. Most existing robots of this kind depend on visual servo systems and struggle with efficient, rapid adjustments in the field-of-view (FOV), especially when identifying organs and needles outside the FOV. This paper presents a laparoscope-holding robot system capable of emp... |
Inconstant curvature kinematics of parallel continuum robot without static model | https://ieeexplore.ieee.org/document/10610251/ | [
"Tao Zhang",
"Huxin Gao",
"Hongliang Ren",
"Tao Zhang",
"Huxin Gao",
"Hongliang Ren"
] | In the study of minimally invasive surgical robots, a mini parallel continuum robot has shown motion advantage after passing through a long and winding working channel. However, due to the interaction force between the elastic wires of the parallel robots during motion generation processes, the constant curvature assumption has shown modeling errors. This causes the current geometric kinematic mod... |
A Novel SEA-based Haptic Interface for Robot-Assisted Vascular Interventional Surgery | https://ieeexplore.ieee.org/document/10611034/ | [
"Yonggan Yan",
"Shuxiang Guo",
"Chuqiao Lyu",
"Jian Guo",
"Jian Wang",
"Pengfei Yang",
"Yongwei Zhang",
"Yongxin Zhang",
"Jianmin Liu",
"Yonggan Yan",
"Shuxiang Guo",
"Chuqiao Lyu",
"Jian Guo",
"Jian Wang",
"Pengfei Yang",
"Yongwei Zhang",
"Yongxin Zhang",
"Jianmin Liu"
] | Robot-assisted vascular interventional surgery can isolate interventionists and X-ray radiation, and improve surgical accuracy. However, the leader side outside the operating room still has problems such as incomplete collection of operating information and unrealistic tactile feedback. The main objective of this paper is to design a haptic interface that can simultaneously capture the force-posit... |
A Miniature 1R1T Precision Manipulator with Remote Center of Motion for Minimally Invasive Surgery | https://ieeexplore.ieee.org/document/10610812/ | [
"Hiroyuki Suzuki",
"Hiroyuki Suzuki"
] | In robotic-assisted minimally invasive surgery, the remote center of motion (RCM) achieves precision and safe manipulation of surgical devices through the insertion point into the patient’s body. One of the RCM configurations, one-rotation and one-translation (1R1T) RCM based on a closed-loop design, enables two-degrees-of-freedom transmission from the proximal end of the robotic arm to the distal... |
A three-dimensional compliant bowtie-shaped mechanical amplifier to magnify coaxial displacement in a confined space | https://ieeexplore.ieee.org/document/10611636/ | [
"Jintaek Im",
"Eunsil Jang",
"Cheol Song",
"Jintaek Im",
"Eunsil Jang",
"Cheol Song"
] | This paper proposes a novel form of a three-dimensional coaxial bowtie-shaped mechanical amplifier. The proposed model incorporates a lever mechanism into the Sarrus linkage structure. It allows the target plate to move along one axis with amplified displacement in a parallel manner. The amplifier was assembled after machining the components using a computer numerical control machine. A flexible h... |
A Magnetic Continuum Robot with In-situ Magnetic Reprogramming Capability | https://ieeexplore.ieee.org/document/10611450/ | [
"Junnan Xue",
"Moqiu Zhang",
"Xurui Liu",
"Jiaqi Zhu",
"Yanfei Cao",
"Li Zhang",
"Junnan Xue",
"Moqiu Zhang",
"Xurui Liu",
"Jiaqi Zhu",
"Yanfei Cao",
"Li Zhang"
] | Magnetic continuum robots (MCR) have shown great potential in minimally invasive interventions because they can be actively and remotely navigated through complex in vivo environments. However, the deformation capability of current MCRs is limited by fixed magnetization congurations, preventing them from accessing hard-to-reach areas. This is due to the fact that under a global magnetic field, fix... |
Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy | https://ieeexplore.ieee.org/document/10610302/ | [
"Jian Chen",
"Mingcong Chen",
"Qingxiang Zhao",
"Shuai Wang",
"Yihe Wang",
"Ying Xiao",
"Jian Hu",
"Danny Tat Ming Chan",
"Kam Tong Leo Yeung",
"David Yuen Chung Chan",
"Hongbin Liu",
"Jian Chen",
"Mingcong Chen",
"Qingxiang Zhao",
"Shuai Wang",
"Yihe Wang",
"Ying Xiao",
"Jian Hu",
"Danny Tat Ming Chan",
"Kam Tong Leo Yeung",
"David Yuen Chung Chan",
"Hongbin Liu"
] | Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an imag... |
Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments using Fiber Bragg Grating Sensors | https://ieeexplore.ieee.org/document/10610024/ | [
"Alexander Schwarz",
"Arian Mehrfard",
"Golchehr Amirkhani",
"Henry Phalen",
"Justin H. Ma",
"Robert B. Grupp",
"Alejandro Martin Gomez",
"Mehran Armand",
"Alexander Schwarz",
"Arian Mehrfard",
"Golchehr Amirkhani",
"Henry Phalen",
"Justin H. Ma",
"Robert B. Grupp",
"Alejandro Martin Gomez",
"Mehran Armand"
] | Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure and non-linear curvature pose significant challenges for shape-based feedback control. The use of Fiber Bragg Grating (FBG) sensors for shape sensing has shown great potential in estimating the CDM’s tip position and su... |
Autonomous robotic re-alignment for face-to-face underwater human-robot interaction* | https://ieeexplore.ieee.org/document/10610809/ | [
"Demetrious T. Kutzke",
"Ashwin Wariar",
"Junaed Sattar",
"Demetrious T. Kutzke",
"Ashwin Wariar",
"Junaed Sattar"
] | The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in underwater human-robot interaction (UHRI) has witnessed comparatively smaller levels of growth due to limitations in bi-directional communication and significant ... |
Mechanism Design for New Sensors Field Deployment by LineRanger Powerline Robot | https://ieeexplore.ieee.org/document/10610764/ | [
"Pierre-Luc Richard",
"Jonathan Bellemare",
"Philippe Hamelin",
"Camille Hébert",
"Ghislain Lambert",
"Samuel Lavoie",
"Sébastien Leprohon",
"Matthieu Montfrond",
"Marion Nourry",
"Alex Sartor",
"Nicolas Pouliot",
"Pierre-Luc Richard",
"Jonathan Bellemare",
"Philippe Hamelin",
"Camille Hébert",
"Ghislain Lambert",
"Samuel Lavoie",
"Sébastien Leprohon",
"Matthieu Montfrond",
"Marion Nourry",
"Alex Sartor",
"Nicolas Pouliot"
] | Powerline robotics is slowly becoming key tools for electric utilities. Contrary to drones that are usually limited to inspection tasks, wheeled robots like LineRanger can perform a broader range of applications. In this paper, a suite of mechanical devices is featured, as several new asset management tasks were recently added to LineRanger’s capabilities. While previous applications focused on no... |
Cellular-enabled Collaborative Robots Planning and Operations for Search-and-Rescue Scenarios | https://ieeexplore.ieee.org/document/10611179/ | [
"Arnau Romero",
"Carmen Delgado",
"Lanfranco Zanzi",
"Raúl Suárez",
"Xavier Costa-Pérez",
"Arnau Romero",
"Carmen Delgado",
"Lanfranco Zanzi",
"Raúl Suárez",
"Xavier Costa-Pérez"
] | Mission-critical operations, particularly in the context of Search-and-Rescue (SAR) and emergency response situations, demand optimal performance and efficiency from every component involved to maximize the success probability of such operations. In these settings, cellular-enabled collaborative robotic systems have emerged as invaluable assets, assisting first responders in several tasks, ranging... |
STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments | https://ieeexplore.ieee.org/document/10610939/ | [
"Akash Patel",
"Mario A. V. Saucedo",
"Christoforos Kanellakis",
"George Nikolakopoulos",
"Akash Patel",
"Mario A. V. Saucedo",
"Christoforos Kanellakis",
"George Nikolakopoulos"
] | In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic scene changes in previously explored areas. The framework is structured around a novel goal oriented graph representation, that consists of, i) the local sub-gr... |
Computation-Aware Multi-object Search in 3D Space using Submodular Tree | https://ieeexplore.ieee.org/document/10610369/ | [
"Yan-Shuo Li",
"Kuo-Shih Tseng",
"Yan-Shuo Li",
"Kuo-Shih Tseng"
] | Searching for targets in 3D environments can be formulated as submodular maximization problems with routing constraints. However, it involves solving two NP-hard problems: the maximal coverage problem and the traveling salesman problem. Since the time constraint is critical for search problems, this research proposes a Computation-Aware Search for Multiple Objects (CASMO) algorithm to further cons... |
Multi-robot Search in a 3D Environment with Intersection System Constraints | https://ieeexplore.ieee.org/document/10610393/ | [
"Yan-Shuo Li",
"Kuo-Shih Tseng",
"Yan-Shuo Li",
"Kuo-Shih Tseng"
] | Efficient task allocation is a challenge for multirobot search. The multi-robot search problem is reformulated as submodular maximization subject to intersection system constraints. The objective function is submodular and consists of a coverage function to cover environments and a balancing function to efficiently dispatch robots. The intersection system is composed of routing and clustering cons... |
Wireless Communication Infrastructure Building for Mobile Robot Search and Inspection Missions | https://ieeexplore.ieee.org/document/10611561/ | [
"Martin Zoula",
"Jan Faigl",
"Martin Zoula",
"Jan Faigl"
] | In the paper, we address wireless communication infrastructure building by relay placement based on approaches utilized in wireless network sensors. The problem is motivated by search and inspection missions with mobile robots, where known sensing ranges may be exploited. We investigate the relay placement, establishing network connectivity to support robust food-based communication routing. The p... |
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware | https://ieeexplore.ieee.org/document/10610399/ | [
"Adam Seewald",
"Marvin Chancán",
"Connor M. McCann",
"Seonghoon Noh",
"Omeed Fallahi",
"Hector Castillo",
"Ian Abraham",
"Aaron M. Dollar",
"Adam Seewald",
"Marvin Chancán",
"Connor M. McCann",
"Seonghoon Noh",
"Omeed Fallahi",
"Hector Castillo",
"Ian Abraham",
"Aaron M. Dollar"
] | This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of an experimental platform with rocker-bogie suspension. It operates in unknown and GPS-denied environments and on indoor and outdoor terrains. The exploration con... |
Multi-modal jumping and crawling in an autonomous, springtail-inspired microrobot | https://ieeexplore.ieee.org/document/10610130/ | [
"Shashwat Singh",
"Zeynep Temel",
"Ryan St. Pierre",
"Shashwat Singh",
"Zeynep Temel",
"Ryan St. Pierre"
] | Springtails are tiny arthropods that crawl and jump. They jump by temporarily storing elastic energy in resilin elastic cuticular structures and releasing that energy to accelerate a tail, called a furca, propelling them in the air. This paper presents an autonomous, springtail-inspired microrobot that can crawl and jump. The microrobot has a mass of 980mg and stands 13mm tall, and has on-board se... |
High-speed interfacial flight of an insect-scale robot | https://ieeexplore.ieee.org/document/10611592/ | [
"Hang Gao",
"Sunghwan Jung",
"E. Farrell Helbling",
"Hang Gao",
"Sunghwan Jung",
"E. Farrell Helbling"
] | Several insect species are able to locomote across the air-water interface by leveraging surface tension to remain above the water surface. A subset of these insects, such as the stonefly and waterlily beetle, flap their wings to actively move around the two dimensional surface — a locomotion strategy referred to as interfacial flight. Here, we present an insect-scale robot, the γ-bot, inspired by... |
VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor | https://ieeexplore.ieee.org/document/10610895/ | [
"Elijah K. Blankenship",
"Conor K. Trygstad",
"Francisco M. F. R. Gonçalves",
"Néstor O. Pérez-Arancibia",
"Elijah K. Blankenship",
"Conor K. Trygstad",
"Francisco M. F. R. Gonçalves",
"Néstor O. Pérez-Arancibia"
] | This paper presents the VLEIBot* (Very Little Eel-Inspired roBot), a 45-mg/23-mm3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD) microactuator and undulates periodically due to wave propagation phenomena generated by fluid-structure interaction (FSI) during swimming. The microactuator is composed of ... |
Direct learning of home vector direction for insect-inspired robot navigation | https://ieeexplore.ieee.org/document/10611609/ | [
"Michiel V. M. Firlefyn",
"Jesse J. Hagenaars",
"Guido C. H. E. De Croon",
"Michiel V. M. Firlefyn",
"Jesse J. Hagenaars",
"Guido C. H. E. De Croon"
] | Insects have long been recognized for their ability to navigate and return home using visual cues from their nest’s environment. However, the precise mechanism underlying this remarkable homing skill remains a subject of ongoing investigation. Drawing inspiration from the learning flights of honey bees and wasps, we propose a robot navigation method that directly learns the home vector direction f... |
A Dragonfly-inspired Flapping Wing Robot Mimicking Force Vector Control Approach | https://ieeexplore.ieee.org/document/10610326/ | [
"Fangyuan Liu",
"Song Li",
"Jinwu Xiang",
"Daochun Li",
"Zhan Tu",
"Fangyuan Liu",
"Song Li",
"Jinwu Xiang",
"Daochun Li",
"Zhan Tu"
] | Dragonflies show impressive flying skills by achieving both high efficiency and agility. They can perform distinctive flight maneuvers, such as flying backwards, which has proven to be achieved through "force vectoring" mechanism recently. In this paper, to explore the agile flight ability of dragonflies on man-made flapping wing systems, we designed, optimized and fabricated a dragonfly-inspired ... |
Microrobotic Flight Enabled by Ultralight Ion Thrusters with High Thrust-to-Weight Ratio and Low Fabrication Cost | https://ieeexplore.ieee.org/document/10611166/ | [
"Yang Gu",
"Xianfa Cai",
"Khadga Thakuri",
"Wenyu Yang",
"Yufeng Guo",
"Wei Li",
"Yang Gu",
"Xianfa Cai",
"Khadga Thakuri",
"Wenyu Yang",
"Yufeng Guo",
"Wei Li"
] | Flying microrobots have garnered growing research interest owing to their technological intricacies and suitability for various applications leveraging miniaturized size. Electrohydrodynamic (EHD) thrust offers advantages by generating propulsion without moving parts, but real-world use is limited by insufficient thrust generation, manufacturing challenges, fragility, and cost. This work presents ... |
An Augmented Catenary Model for Underwater Tethered Robots | https://ieeexplore.ieee.org/document/10611132/ | [
"Martin Filliung",
"Juliette Drupt",
"Charly Peraud",
"Claire Dune",
"Nicolas Boizot",
"Andrew Comport",
"Cedric Anthierens",
"Vincent Hugel",
"Martin Filliung",
"Juliette Drupt",
"Charly Peraud",
"Claire Dune",
"Nicolas Boizot",
"Andrew Comport",
"Cedric Anthierens",
"Vincent Hugel"
] | This paper examines the relevance of using catenary-based curves to model cables in underwater tethered robotic applications in order to take into account the influence of hydrodynamic damping. To this end, an augmented catenary-based model is introduced to deal with the dynamical effects of surge motion, sway motion or a combination of both on a cable. Experimental studies are carried out with ei... |
A Hybrid Dynamical Model for Robotic Underwater Vehicles when Submerged or Surfaced: Approach and Preliminary Evaluation | https://ieeexplore.ieee.org/document/10610798/ | [
"James E. Hunt",
"Louis L. Whitcomb",
"James E. Hunt",
"Louis L. Whitcomb"
] | This paper reports a numerical method for modeling underwater vehicle (UV) interactions with the free surface using a finite-dimensional dynamical plant model. Although finite-dimensional plant models of fully submerged UV behavior are well-established, they are unable to model the ubiquitous condition of a UV operating at or near the free surface. We report a Monte Carlo-based hybrid model approa... |
ReefGlider: A Highly Maneuverable Vectored Buoyancy Engine Based Underwater Robot | https://ieeexplore.ieee.org/document/10610140/ | [
"Kevin Macauley",
"Levi Cai",
"Peter Adamczyk",
"Yogesh Girdhar",
"Kevin Macauley",
"Levi Cai",
"Peter Adamczyk",
"Yogesh Girdhar"
] | There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to control their depth and pose. AUVs utilizing thrusters can be highly maneuverable, making them well-suited to operate in complex environments such as in close-proximity to coral reefs. However, they are inherently power-ineff... |
Robust Model Predictive Control with Control Barrier Functions for Autonomous Surface Vessels | https://ieeexplore.ieee.org/document/10610620/ | [
"Wei Wang",
"Wei Xiao",
"Alejandro Gonzalez-Garcia",
"Jan Swevers",
"Carlo Ratti",
"Daniela Rus",
"Wei Wang",
"Wei Xiao",
"Alejandro Gonzalez-Garcia",
"Jan Swevers",
"Carlo Ratti",
"Daniela Rus"
] | In autonomous robot navigation, the trajectories from path planners are considered to be safe regions, and deviations could endanger vessels. Model Predictive Control (MPC) stands as a popular choice for trajectory tracking problems as it naturally addresses operational constraints, such as dynamics and control constraints. Nevertheless, achieving robustness in changing environments like oceans an... |
Underwater Dome-Port Camera Calibration: Modeling of Refraction and Offset through N-Sphere Camera Model | https://ieeexplore.ieee.org/document/10611338/ | [
"Monika Roznere",
"Adithya K. Pediredla",
"Samuel E. Lensgraf",
"Yogesh Girdhar",
"Alberto Quattrini Li",
"Monika Roznere",
"Adithya K. Pediredla",
"Samuel E. Lensgraf",
"Yogesh Girdhar",
"Alberto Quattrini Li"
] | The optical effects that are observed in underwater imagery are more complex than those in-air. This is partially because we enclose most underwater cameras in a watertight enclosure, such as a hemispheric dome window. We then observe optical issues including the distortion effects of the lens, e.g., wide-angle field-of-view (FOV), the refractive effects at the enclosure (water-acrylic and acrylic... |
Benchmarking Classical and Learning-Based Multibeam Point Cloud Registration | https://ieeexplore.ieee.org/document/10610118/ | [
"Li Ling",
"Jun Zhang",
"Nils Bore",
"John Folkesson",
"Anna Wåhlin",
"Li Ling",
"Jun Zhang",
"Nils Bore",
"John Folkesson",
"Anna Wåhlin"
] | Deep learning has shown promising results for multiple 3D point cloud registration datasets. However, in the underwater domain, most registration of multibeam echo-sounder (MBES) point cloud data are still performed using classical methods in the iterative closest point (ICP) family. In this work, we curate and release DotsonEast Dataset, a semi-synthetic MBES registration dataset constructed from... |
Angler: An Autonomy Framework for Intervention Tasks with Lightweight Underwater Vehicle Manipulator Systems | https://ieeexplore.ieee.org/document/10610184/ | [
"Evan Palmer",
"Christopher Holm",
"Geoffrey Hollinger",
"Evan Palmer",
"Christopher Holm",
"Geoffrey Hollinger"
] | Developing autonomous intervention capabilities for lightweight underwater vehicle manipulator systems (UVMS) has garnered significant attention within recent years because of the opportunity for these systems to reduce intervention operating costs. Developing autonomous UVMS capabilities is challenging, however, because of the lack of available standardized software frameworks and pipelines. Prev... |
Harnessing the Differential Flatness of Monocopter Dynamics for the Purpose of Trajectory Tracking in a Stable Invertible Coaxial Actuated ROtorcraft (SICARO) | https://ieeexplore.ieee.org/document/10611251/ | [
"Emmanuel Tang",
"Wei Jun Ang",
"Kian Wee Tan",
"Shaohui Foong",
"Emmanuel Tang",
"Wei Jun Ang",
"Kian Wee Tan",
"Shaohui Foong"
] | In this paper, the dynamics of an emerging class of rotating nature-inspired micro aerial vehicles known as the Monocopter is proven and shown to be differentially flat. By exploiting this phenomenon, trajectory tracking can now be implemented on Monocopters via feed-forward terms that are computed per the trajectory. To demonstrate this, a Monocopter in the form of a Stable Invertible Coaxial Act... |
Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks | https://ieeexplore.ieee.org/document/10610711/ | [
"Tong Hui",
"Eugenio Cuniato",
"Michael Pantic",
"Marco Tognon",
"Matteo Fumagalli",
"Roland Siegwart",
"Tong Hui",
"Eugenio Cuniato",
"Michael Pantic",
"Marco Tognon",
"Matteo Fumagalli",
"Roland Siegwart"
] | Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the environment. End-effectors with multiple contact points are often used for placing NDT sensors in contact with a surface to be inspected. Aligning the NDT senso... |
Modeling and Control of PADUAV: a Passively Articulated Dual UAVs Platform for Aerial Manipulation* | https://ieeexplore.ieee.org/document/10610094/ | [
"Jiali Sun",
"Kaidi Wang",
"Chuanbeibei Shi",
"Xiujia Li",
"Xiaojian Yi",
"Yushu Yu",
"Fuchun Sun",
"Yiqun Dong",
"Jiali Sun",
"Kaidi Wang",
"Chuanbeibei Shi",
"Xiujia Li",
"Xiaojian Yi",
"Yushu Yu",
"Fuchun Sun",
"Yiqun Dong"
] | In this paper, we introduce PADUAV, a novel 5-DOF aerial platform designed to overcome the limitations of traditional tiltrotor vehicles. PADUAV features a unique mechanical design that incorporates two off-the-shelf quadrotors passively articulated to a rigid frame. This innovation enables free pitch rotation without mechanical constraints like cable winding, significantly enhancing its capabilit... |