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Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot | https://ieeexplore.ieee.org/document/9981066/ | [
"Jaehyun Lim",
"Hyeonwoo Lee",
"Jongeun Choi",
"Jaehyun Lim",
"Hyeonwoo Lee",
"Jongeun Choi"
] | Designing a cost function for nonlinear model predictive control (MPC) with a sparse/binary stage cost is challenging. This paper proposes a novel MPC approach with a scheduled quadratic stage cost function that approximates the true stage cost in order to optimally control a nonlinear system with a sparse/binary stage cost. The cost function parameter is optimally scheduled by a parameter schedul... |
Linear MPC-based Motion Planning for Autonomous Surgery | https://ieeexplore.ieee.org/document/9982166/ | [
"Marco Minelli",
"Alessio Sozzi",
"Giacomo De Rossi",
"Federica Ferraguti",
"Saverio Farsoni",
"Francesco Setti",
"Riccardo Muradore",
"Marcello Bonfè",
"Cristian Secchi",
"Marco Minelli",
"Alessio Sozzi",
"Giacomo De Rossi",
"Federica Ferraguti",
"Saverio Farsoni",
"Francesco Setti",
"Riccardo Muradore",
"Marcello Bonfè",
"Cristian Secchi"
] | Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows the controller to be both computationally faster and better performing due to the increased prediction... |
Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment | https://ieeexplore.ieee.org/document/9981136/ | [
"T. Noël",
"S. Kabbour",
"A. Lehuger",
"E. Marchand",
"F. Chaumette",
"T. Noël",
"S. Kabbour",
"A. Lehuger",
"E. Marchand",
"F. Chaumette"
] | In this paper, we propose a new sampling-based path planning approach, focusing on the challenges linked to autonomous exploration. Our method relies on the definition of a disk graph of free-space bubbles, from which we derive a biased sampling function that expands the graph towards known free space for maximal navigability and frontiers discovery. The proposed method demonstrates an exploratory... |
Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots | https://ieeexplore.ieee.org/document/9981647/ | [
"Fetullah Atas",
"Grzegorz Cielniak",
"Lars Grimstad",
"Fetullah Atas",
"Grzegorz Cielniak",
"Lars Grimstad"
] | This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation methods by incorporating both kinematic and physical constraints of a robot with standard motion planning algorithms (e.g., those from the Open Motion Planning Lib... |
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments | https://ieeexplore.ieee.org/document/9982190/ | [
"Jonas Frey",
"David Hoeller",
"Shehryar Khattak",
"Marco Hutter",
"Jonas Frey",
"David Hoeller",
"Shehryar Khattak",
"Marco Hutter"
] | Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating within safety limits under uncertainty. The robot must sense and analyze the travers ability of the surrounding terrain, which depends on the hardware, locomotion c... |
Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints | https://ieeexplore.ieee.org/document/9981086/ | [
"Haoran Zhao",
"Nihal Abdurahiman",
"Nikhil Navkar",
"Julien Leclerc",
"Aaron T. Becker",
"Haoran Zhao",
"Nihal Abdurahiman",
"Nikhil Navkar",
"Julien Leclerc",
"Aaron T. Becker"
] | This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical constraints and conditions, the corresponding closed-form solution for the time factors and trajectory ... |
Imitation Learning and Model Integrated Excavator Trajectory Planning | https://ieeexplore.ieee.org/document/9981220/ | [
"Qiangqiang Guo",
"Zhixian Ye",
"Liyang Wang",
"Liangjun Zhang",
"Qiangqiang Guo",
"Zhixian Ye",
"Liyang Wang",
"Liangjun Zhang"
] | Automated excavation is promising to improve the safety and efficiency of excavators, and trajectory planning is one of the most important techniques. In this paper, we propose a two-stage method that integrates data-driven imitation learning and model-based trajectory optimization to generate optimal trajectories for autonomous excavators. We firstly train a deep neural network using demonstratio... |
Online Complete Coverage Path Planning of a Reconfigurable Robot using Glasius Bio-inspired Neural Network and Genetic Algorithm | https://ieeexplore.ieee.org/document/9981667/ | [
"S. M. Bhagya P. Samarakoon",
"M. A. Viraj J. Muthugala",
"Mohan Rajesh Elara",
"S. M. Bhagya P. Samarakoon",
"M. A. Viraj J. Muthugala",
"Mohan Rajesh Elara"
] | Area coverage is crucial for robotics applications such as cleaning, painting, exploration, and inspections. Hinged reconfigurable robots have been introduced for these application domains to improve the area coverage performance. However, the existing coverage algorithms of hinged reconfigurable robots require improvements in the aspects; consideration of beyond a limited set of reconfigurable sh... |
Quantity over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data | https://ieeexplore.ieee.org/document/9982116/ | [
"Lukas Platinsky",
"Tayyab Naseer",
"Hui Chen",
"Ben Haines",
"Haoyue Zhu",
"Hugo Grimmett",
"Luca Del Pero",
"Lukas Platinsky",
"Tayyab Naseer",
"Hui Chen",
"Ben Haines",
"Haoyue Zhu",
"Hugo Grimmett",
"Luca Del Pero"
] | With the Autonomous Vehicle (AV) industry shifting towards machine-learned approaches for motion plan-ning [1], the performance of self-driving systems is starting to rely heavily on large quantities of expert driving demon-strations. However, collecting this demonstration data typically involves expensive HD sensor suites (LiDAR + RADAR + cameras), which quickly becomes financially infeasible at ... |
TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning | https://ieeexplore.ieee.org/document/9981992/ | [
"Brady Moon",
"Satrajit Chatterjee",
"Sebastian Scherer",
"Brady Moon",
"Satrajit Chatterjee",
"Sebastian Scherer"
] | Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the lack of approaches that allow for informative path planning in high-dimensional spaces and non-trivial sensor constraints. In this work we present a sampling-based... |
Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures | https://ieeexplore.ieee.org/document/9981052/ | [
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba"
] | While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstacle, and realizing target posture quickly and accurately has been difficult. Therefore, we develop a feedback control method considering the hysteresis... |
Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching | https://ieeexplore.ieee.org/document/9982103/ | [
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Kei Okada",
"Masayuki Inaba"
] | In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transit... |
A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine | https://ieeexplore.ieee.org/document/9981571/ | [
"Bonhyun Ku",
"Arijit Banerjee",
"Bonhyun Ku",
"Arijit Banerjee"
] | Control of an articulated spine is important for humanoids' dynamic and balanced motion. Although there have been many spinal structures for humanoids, their actuation is still limited due to the usage of geared motors for joints. This paper introduces position control of a distributed electrome-chanical spine in a vertical plane. The spine dynamics model is approximated as an open chain. Gravitat... |
Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface | https://ieeexplore.ieee.org/document/9981232/ | [
"Shunsuke Nagahama",
"Atsushi Nakao",
"Shigeki Sugano",
"Shunsuke Nagahama",
"Atsushi Nakao",
"Shigeki Sugano"
] | A surface microstructure that mimics the surface of a gecko's foot can exert a large gripping force with a small contact force. If such a structure is applied to the fingertips of a two-fingered parallel gripper, stable grasping can be achieved independent of the wetting and frictional state of the contact surface. However, the adhesive force of the microstructure is large while releasing the obje... |
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids | https://ieeexplore.ieee.org/document/9981051/ | [
"Kento Kawaharazuka",
"Yoshimoto Ribayashi",
"Akihiro Miki",
"Yasunori Toshimitsu",
"Temma Suzuki",
"Kei Okada",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Yoshimoto Ribayashi",
"Akihiro Miki",
"Yasunori Toshimitsu",
"Temma Suzuki",
"Kei Okada",
"Masayuki Inaba"
] | The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls may cause instability. In this study, to solve these problems, we propose a method of learning a correlation model among the joint angle, muscle tension, and mus... |
Real-Time Distributed Multi-Robot Target Tracking via Virtual Pheromones | https://ieeexplore.ieee.org/document/9981262/ | [
"Joseph Prince Mathew",
"Cameron Nowzari",
"Joseph Prince Mathew",
"Cameron Nowzari"
] | Actively searching for targets using a multi-agent system in an unknown environment poses a two-pronged prob-lem, where on the one hand we need agents to cover as much of the environment as possible and on the other have a higher density of agents where there are potential targets to maximize detection performance. This paper proposes a fully distributed solution for an ad hoc network of agents to... |
Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems | https://ieeexplore.ieee.org/document/9981414/ | [
"Ofer Dagan",
"Nisar R. Ahmed",
"Ofer Dagan",
"Nisar R. Ahmed"
] | This paper presents a method for Bayesian multi-robot peer-to-peer data fusion where any pair of autonomous robots hold non-identical, but overlapping parts of a global joint probability distribution, representing real world inference tasks (e.g., mapping, tracking). It is shown that in dynamic stochastic systems, filtering, which corresponds to marginalization of past variables, results in direct... |
Decay-Based Error Correction in Collective Robotic Construction | https://ieeexplore.ieee.org/document/9981721/ | [
"Jiahe Chen",
"Kirstin Petersen",
"Jiahe Chen",
"Kirstin Petersen"
] | Multi-robot systems have been shown to build large-scale, user-specified structures using distributed, environmentally-mediated coordination in simulation. Little attention, however, has been devoted to error propagation and mitigation. In this paper, we introduce a detailed simulation of TERMES, a prototypical construction system, in which robots have realistic error profiles. We use this simulat... |
Perceive, Represent, Generate: Translating Multimodal Information to Robotic Motion Trajectories | https://ieeexplore.ieee.org/document/9981788/ | [
"Fábio Vital",
"Miguel Vasco",
"Alberto Sardinha",
"Francisco Melo",
"Fábio Vital",
"Miguel Vasco",
"Alberto Sardinha",
"Francisco Melo"
] | We present Perceive-Represent-Generate (PRG), a novel three-stage framework that maps perceptual information of different modalities (e.g., visual or sound), corresponding to a series of instructions, to a sequence of movements to be executed by a robot. In the first stage, we perceive and preprocess the given inputs, isolating individual commands from the complete instruction provided by a human ... |
SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking | https://ieeexplore.ieee.org/document/9981459/ | [
"Tianqi Li",
"Lucas W. Krakow",
"Swaminathan Gopalswamy",
"Tianqi Li",
"Lucas W. Krakow",
"Swaminathan Gopalswamy"
] | In target tracking with mobile multi-sensor sys-tems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of the observable sensor dynamics, unobservable target states, and accompanying observation laws, we present a distributed information-driven solution approach t... |
Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits | https://ieeexplore.ieee.org/document/9982204/ | [
"Federico Del Fatti",
"Anna Sesselmann",
"Máximo A. Roa",
"Federico Del Fatti",
"Anna Sesselmann",
"Máximo A. Roa"
] | Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affects the stability of the gait. This paper provides an analysis of the influence of this variable leg... |
Learning to Act with Affordance-Aware Multimodal Neural SLAM | https://ieeexplore.ieee.org/document/9981261/ | [
"Zhiwei Jia",
"Kaixiang Lin",
"Yizhou Zhao",
"Qiaozi Gao",
"Govind Thattai",
"Gaurav S. Sukhatme",
"Zhiwei Jia",
"Kaixiang Lin",
"Yizhou Zhao",
"Qiaozi Gao",
"Govind Thattai",
"Gaurav S. Sukhatme"
] | Recent years have witnessed an emerging paradigm shift toward embodied artificial intelligence, in which an agent must learn to solve challenging tasks by interacting with its environment. There are several challenges in solving embodied multimodal tasks, including long-horizon planning, vision-and-language grounding, and efficient exploration. We focus on a critical bottleneck, namely the perform... |
Learning to Assess Danger from Movies for Cooperative Escape Planning in Hazardous Environments | https://ieeexplore.ieee.org/document/9982279/ | [
"Vikram Shree",
"Sarah Allen",
"Beatriz Asfora",
"Jacopo Banfi",
"Mark Campbell",
"Vikram Shree",
"Sarah Allen",
"Beatriz Asfora",
"Jacopo Banfi",
"Mark Campbell"
] | There has been a plethora of work towards im-proving robot perception and navigation, yet their application in hazardous environments, like during a fire or an earthquake, is still at a nascent stage. We hypothesize two key challenges here: first, it is difficult to replicate such scenarios in the real world, which is necessary for training and testing purposes. Second, current systems are not ful... |
Time-Optimal Synchronous Terminal Trajectory Planning for Coupling Motions of Robotic Flexible Endoscope | https://ieeexplore.ieee.org/document/9982044/ | [
"Xiangyu Wang",
"Ningbo Yu",
"Jianda Han",
"Yongchun Fang",
"Xiangyu Wang",
"Ningbo Yu",
"Jianda Han",
"Yongchun Fang"
] | The robotic flexible endoscope is developed rapidly in the field of surgery robots due to its high flexibility and safety. However, some inherent features, e.g., high nonlinearity, material creep, complex dynamic hysteresis behaviors, and the unknown coupling effects between bending and twisting motions, can lead to the significant degradation on three-dimensional (3-D) positioning performance of ... |
Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology | https://ieeexplore.ieee.org/document/9981676/ | [
"Xiu Zhang",
"Maria Chiara Palumbo",
"Francesca Perico",
"Mattia Magro",
"Andrea Fortuna",
"Tommaso Magni",
"Emiliano Votta",
"Alice Segato",
"Elena De Momi",
"Xiu Zhang",
"Maria Chiara Palumbo",
"Francesca Perico",
"Mattia Magro",
"Andrea Fortuna",
"Tommaso Magni",
"Emiliano Votta",
"Alice Segato",
"Elena De Momi"
] | Structural intervention cardiology (SIC) interventions are crucial procedures for correcting heart valves, walls, and muscle form defects. However, the possibility of embolization or perforation, as well as the lack of transparent vision and autonomous surgical equipment, make it difficult for the clinician. This paper proposes a robot-assisted tendon-driven catheter and machine learning-based pat... |
Model-free and Uncalibrated Visual-feedback Control of Magnetically-Actuated Flexible Endoscopes | https://ieeexplore.ieee.org/document/9982055/ | [
"Jiewen Tan",
"Junnan Xue",
"Xing Yang",
"Sishen Yuan",
"Wei Liu",
"Hongliang Ren",
"Shuang Song",
"Jiaole Wang",
"Jiewen Tan",
"Junnan Xue",
"Xing Yang",
"Sishen Yuan",
"Wei Liu",
"Hongliang Ren",
"Shuang Song",
"Jiaole Wang"
] | Magnetically-actuated flexible endoscopes (MAFE) have been well used in minimally-invasive surgery because they can be steered by a magnetic field thus more flexible than traditional endoscopes. Model-free and uncalibrated visual-feedback control makes it possible to manipulate MAFE with a magnetic field without external tracking systems. Because no extra sensor is required to obtain position and ... |
Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery | https://ieeexplore.ieee.org/document/9981536/ | [
"Xin Ma",
"Xuchen Wang",
"Rui Cao",
"Kwok Wai Samuel Au",
"Xin Ma",
"Xuchen Wang",
"Rui Cao",
"Kwok Wai Samuel Au"
] | Existing robotic endoscopes for laparoscopic surgery, predominantly rigid or limited in dexterity, occupy a large motion space1, The large occupied motion space necessitates large incisions and reduces the motion space for surgeons to simultaneously operate other surgical instruments. Meanwhile, surgeons only have limited view adjustment capability to avoid occlusion and they often have to lift/pu... |
A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries | https://ieeexplore.ieee.org/document/9981700/ | [
"Zhanpeng Yin",
"Yan Hong",
"Xiaoyu Sun",
"Zhiyuan Shen",
"Yingxuan Zhang",
"Feng Ju",
"Bruce W. Drinkwater",
"Zhanpeng Yin",
"Yan Hong",
"Xiaoyu Sun",
"Zhiyuan Shen",
"Yingxuan Zhang",
"Feng Ju",
"Bruce W. Drinkwater"
] | Minimally invasive surgeries (MIS) or natural orifice transluminal endoscopic surgeries (NOTES) such as the transurethral resection of bladder tumor (TURBT) require the surgical robot to be miniaturized to perform surgical procedures in confined spaces. However, the surgical robot's tiny size poses problems in its fabrication and shape sensing. In this paper, a miniature continuum surgical robot i... |
RGB-X Classification for Electronics Sorting | https://ieeexplore.ieee.org/document/9981860/ | [
"Abhimanyu Fnu",
"Tejas Zodage",
"Umesh Thillaivasan",
"Xinyue Lai",
"Rahul Chakwate",
"Javier Santillan",
"Emma Oti",
"Ming Zhao",
"Ralph Boirum",
"Howie Choset",
"Matthew Travers",
"Abhimanyu Fnu",
"Tejas Zodage",
"Umesh Thillaivasan",
"Xinyue Lai",
"Rahul Chakwate",
"Javier Santillan",
"Emma Oti",
"Ming Zhao",
"Ralph Boirum",
"Howie Choset",
"Matthew Travers"
] | Effectively disassembling and recovering materials from waste electrical and electronic equipment (WEEE) is a critical step in moving global supply chains from carbon-intensive, mined materials to recycled and renewable ones. Conventional recycling processes rely on shredding and sorting waste streams, but for WEEE, which is comprised of numerous dissimilar materials, we explore targeted disassemb... |
CPQNet: Contact Points Quality Network for Robotic Grasping | https://ieeexplore.ieee.org/document/9981372/ | [
"Zhihao Li",
"Pengfei Zeng",
"Jionglong Su",
"Qingda Guo",
"Ning Ding",
"Jiaming Zhang",
"Zhihao Li",
"Pengfei Zeng",
"Jionglong Su",
"Qingda Guo",
"Ning Ding",
"Jiaming Zhang"
] | In typical data-based grasping methods, a grasp based on parallel-jaw grippers is parameterized by the center of the gripper, the rotation angle, and the gripper opening width so as to predict the quality and pose of grasps at every pixel. In contrast, a grasp is represented using only two contact points for contact-points-based grasp representation, which allows for fusion with tactile sensors mo... |
SESR: Self-Ensembling Sim-to-Real Instance Segmentation for Auto-Store Bin Picking | https://ieeexplore.ieee.org/document/9981845/ | [
"Biqi Yang",
"Xiaojie Gao",
"Kai Chen",
"Rui Cao",
"Yidan Feng",
"Xianzhi Li",
"Qi Dou",
"Chi-Wing Fu",
"Yun-Hui Liu",
"Pheng-Ann Heng",
"Biqi Yang",
"Xiaojie Gao",
"Kai Chen",
"Rui Cao",
"Yidan Feng",
"Xianzhi Li",
"Qi Dou",
"Chi-Wing Fu",
"Yun-Hui Liu",
"Pheng-Ann Heng"
] | Instance segmentation is an important task for supporting robotic grasping in auto-store scenarios. Accurate segmentation usually relies on the quantity and quality of available annotated training data. However, it requires tremendous cost to obtain these labels. In this work, without requiring any human annotations on real data, our proposed self-ensembling sim-to-real network, namely SESR, is ab... |
Visual Odometry in HDR Environments by Using Spatially Varying Exposure Camera | https://ieeexplore.ieee.org/document/9981538/ | [
"Keyang Ye",
"Liuzheng Gao",
"Banglei Guan",
"Keyang Ye",
"Liuzheng Gao",
"Banglei Guan"
] | The accuracy and robustness of visual odometry (VO) is significantly affected by the high dynamic range (HDR) environments, because traditional cameras have a limited dynamic range and inevitably miss information in both overexposed and underexposed areas. To overcome the above challenge, we use an spatially varying exposure (SVE) camera, which captures four images with different exposure levels s... |
Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction | https://ieeexplore.ieee.org/document/9981481/ | [
"Banglei Guan",
"Pascal Vasseur",
"Cédric Demonceaux",
"Banglei Guan",
"Pascal Vasseur",
"Cédric Demonceaux"
] | In this paper, we present a relative pose estimation algorithm based on lines knowing the vertical direction associated to each image. We demonstrate that a closed-form solution requiring only eight lines between three views is possible. As a linear solution, it is shown that our approach outperforms the standard trifocal estimation based on 13 triplets of lines and can be efficiently inserted int... |
A Flexible and Robust Vision Trap for Automated Part Feeder Design | https://ieeexplore.ieee.org/document/9981302/ | [
"Rasmus Laurvig Haugaard",
"Thorbjϕrn Mosekjær Iversen",
"Anders Glent Buch",
"Aljaz Kramberger",
"Simon Faarvang Mathiesen",
"Rasmus Laurvig Haugaard",
"Thorbjϕrn Mosekjær Iversen",
"Anders Glent Buch",
"Aljaz Kramberger",
"Simon Faarvang Mathiesen"
] | Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibratory feeder, referred to here as a vision trap, should in principle be able to meet these demands for a wide range of parts. However, in practice, the flexibility of such a trap is limited as an expert is needed to both id... |
AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems | https://ieeexplore.ieee.org/document/9981400/ | [
"Yu-Ping Wang",
"Hao-Ning Wang",
"Zi-Xin Zou",
"Dinesh Manocha",
"Yu-Ping Wang",
"Hao-Ning Wang",
"Zi-Xin Zou",
"Dinesh Manocha"
] | Communication between robots and the server is a major problem for cloud robotic systems. In this paper, we address the problem caused by data loss during such communications and propose an efficient buffering algorithm, called AFR, to solve the problem. We model the problem into an optimization problem to maximize the received Quantity of Information (QoI). Our AFR algorithm is formally proved to... |
Instance Segmentation for Autonomous Log Grasping in Forestry Operations | https://ieeexplore.ieee.org/document/9982286/ | [
"Jean-Michel Fortin",
"Olivier Gamache",
"Vincent Grondin",
"François Pomerleau",
"Philippe Giguère",
"Jean-Michel Fortin",
"Olivier Gamache",
"Vincent Grondin",
"François Pomerleau",
"Philippe Giguère"
] | Wood logs picking is a challenging task to automate. Indeed, logs usually come in cluttered configurations, randomly orientated and overlapping. Recent work on log picking automation usually assume that the logs' pose is known, with little consideration given to the actual perception problem. In this paper, we squarely address the latter, using a data-driven approach. First, we introduce a novel d... |
Multimodal aerial-tethered robot for tree canopy exploration | https://ieeexplore.ieee.org/document/9981121/ | [
"Steffen Kirchgeorg",
"Stefano Mintchev",
"Steffen Kirchgeorg",
"Stefano Mintchev"
] | Forest canopies are the biggest habitat for terrestrial life, yet our understanding of environmental processes and biodiversity inside the canopy continues to be limited due to labour and resource intensive data collection. Existing aerial and climbing robots also struggle to access these complex environments, while animals easily navigate them using multiple means of locomotion. Following this in... |
Lightmyography Based Decoding of Human Intention Using Temporal Multi-Channel Transformers | https://ieeexplore.ieee.org/document/9981514/ | [
"Ricardo V. Godoy",
"Anany Dwivedi",
"Mojtaba Shahmohammadi",
"Minas Liarokapis",
"Ricardo V. Godoy",
"Anany Dwivedi",
"Mojtaba Shahmohammadi",
"Minas Liarokapis"
] | For the development of muscle-machine interfaces (MuMIs), researchers have relied mainly on Electromyography (EMG) signals. However, these signals require complex hardware systems, as well as specialized signal processing and feature extraction methods. To overcome these issues, in our previous work, we proposed a novel MuMI for decoding human intention and motion, called Lightmyography (LMG). To ... |
Dynamic Network Model for Multi-Domain End-to-end Task-Oriented Dialogue System | https://ieeexplore.ieee.org/document/9981938/ | [
"F. D. Zhao",
"M. L. Qiu",
"X. S. Li",
"D. D. Guo",
"F. D. Zhao",
"M. L. Qiu",
"X. S. Li",
"D. D. Guo"
] | Dialogue State Tracking (DST) is an important part in task-oriented dialog system, whose target is to infer the current dialog states and user intentions according to the dialog history information. To this end, we have achieved improvements to the existing work and proposed a dynamic network model suitable for multi-domain dialog, which can explicitly use domain information and better cope with z... |
Hey Haru, Let's Be Friends! Using the Tiers of Friendship to Build Rapport through Small Talk with the Tabletop Robot Haru | https://ieeexplore.ieee.org/document/9981369/ | [
"Eric Nichols",
"Sarah Rose Siskind",
"Levko Ivanchuk",
"Guillermo Pérez",
"Waki Kamino",
"Selma Šabanović",
"Randy Gomez",
"Eric Nichols",
"Sarah Rose Siskind",
"Levko Ivanchuk",
"Guillermo Pérez",
"Waki Kamino",
"Selma Šabanović",
"Randy Gomez"
] | Conversation can play an essential role in forging bonds between humans and social robots, but participants need to feel like they are being listened to, remembered, and cared about in order to effectively build rapport. In this paper, we propose a novel strategy for conducting small talk with a social robot. Our approach is known as the Tiers of Friendship. It is centered around three core design... |
Givenness Hierarchy Informed Optimal Document Planning for Situated Human-Robot Interaction | https://ieeexplore.ieee.org/document/9981811/ | [
"Kevin Spevak",
"Zhao Han",
"Tom Williams",
"Neil T. Dantam",
"Kevin Spevak",
"Zhao Han",
"Tom Williams",
"Neil T. Dantam"
] | Robots that use natural language in collaborative tasks must refer to objects in their environment. Recent work has shown the utility of the linguistic theory of the Givenness Hierarchy (GH) in generating appropriate referring forms. But before referring expression generation, collaborative robots must determine the content and structure of a sequence of utterances, a task known as document planni... |
Deep Augmentation for Electrode Shift Compensation in Transient High-density sEMG: Towards Application in Neurorobotics | https://ieeexplore.ieee.org/document/9981786/ | [
"Tianyun Sun",
"Jacqueline Libby",
"JohnRoss Rizzo",
"S. Farokh Atashzar",
"Tianyun Sun",
"Jacqueline Libby",
"JohnRoss Rizzo",
"S. Farokh Atashzar"
] | Going beyond the traditional sparse multi-channel peripheral human-machine interface that has been used widely in neurorobotics, high-density surface electromyography (HD-sEMG) has shown significant potential for decoding upper-limb motor control. We have recently proposed heterogeneous temporal dilation of LSTM in a deep neural network architecture for a large number of gestures (>60), securing s... |
Analysis of User Behavior and Workload During Simultaneous Tele-operation of Multiple Mobile Manipulators | https://ieeexplore.ieee.org/document/9981934/ | [
"Tatsuya Aoki",
"Tomoaki Nakamura",
"Takayuki Nagai",
"Tatsuya Aoki",
"Tomoaki Nakamura",
"Takayuki Nagai"
] | This paper discusses the tele-operation system for multiple mobile manipulators. If a single person could freely tele-operate multiple mobile manipulators simultaneously, it would be a great step toward the goal of “avatar-symbiotic society” allowing people to live beyond the constraints of their bodies, space, and time. At present, however, such a tele-operation system has not been developed. The... |
Variable Impedance Control for Safety and Usability in Telemanipulation | https://ieeexplore.ieee.org/document/9982118/ | [
"Stephan Andreas Schwarz",
"Ulrike Thomas",
"Stephan Andreas Schwarz",
"Ulrike Thomas"
] | In recent years, haptic telemanipulation has been introduced to control robots remotely with an input device that generates force feedback. Compliant control strategies are needed to ensure safe interaction between humans and robots. Accurate and precise manipulation requires a stiff setup of the impedance parameters, while safety demands for low stiffness. This paper proposes an impedance-based c... |
Block-based Novel Haptic Data Reduction for Time-delayed Teleoperation | https://ieeexplore.ieee.org/document/9982156/ | [
"Ming Gui",
"Xiao Xu",
"Eckehard Steinbach",
"Ming Gui",
"Xiao Xu",
"Eckehard Steinbach"
] | This work proposes a novel haptic data reduction scheme for time-delayed teleoperation by coding information as blocks. State-of-the-art (SOTA) haptic data reduction approaches are mainly sampled-based schemes. They encode haptic signals sample by sample in order to minimize the introduced coding delay. In contrast, our proposed block-based coding approach transmits a sample block as a single unit... |
Skill-CPD: Real-time Skill Refinement for Shared Autonomy in Manipulator Teleoperation | https://ieeexplore.ieee.org/document/9982077/ | [
"Edwin Babaians",
"Dong Yang",
"Mojtaba Karimi",
"Xiao Xu",
"Serkut Ayvasik",
"Eckehard Steinbach",
"Edwin Babaians",
"Dong Yang",
"Mojtaba Karimi",
"Xiao Xu",
"Serkut Ayvasik",
"Eckehard Steinbach"
] | Advanced wireless communication networks provide lower latency and a higher transmission rate. Although this is an enabler for many new teleoperation applications, the risk of network instability or packet drop is still unavoidable. Real-time manipulator teleoperation requires data transmission with no discontinuity. Shared autonomy (SA) is a standard method to mitigate this issue. In this way, if... |
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework | https://ieeexplore.ieee.org/document/9981290/ | [
"Jin Cheng",
"Firas Abi-Farraj",
"Farbod Farshidian",
"Marco Hutter",
"Jin Cheng",
"Firas Abi-Farraj",
"Farbod Farshidian",
"Marco Hutter"
] | Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This relatively slow update rate hinders the possibility of stable haptic teleoperation of such systems since the slow feedback loops can cause instabilities and loss of tr... |
Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators | https://ieeexplore.ieee.org/document/9982220/ | [
"Davide Torielli",
"Luca Muratore",
"Nikos Tsagarakis",
"Davide Torielli",
"Luca Muratore",
"Nikos Tsagarakis"
] | The teleoperation of mobile manipulators may pose significant challenges, demanding complex interfaces and causing a substantial burden to the human operator due to the need to switch continuously from the manipulation of the arm to the control of the mobile platform. Hence, several works have considered to exploit shared control techniques to overcome this issue and, in general, to facilitate the... |
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform | https://ieeexplore.ieee.org/document/9981383/ | [
"Andrew SaLoutos",
"Elijah Stanger–Jones",
"Sangbae Kim",
"Andrew SaLoutos",
"Elijah Stanger–Jones",
"Sangbae Kim"
] | We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide highly transparent force feedback. The end-effector has bimodal force sensors that measure 3-axis force information and 2-dimensional contact location. This inf... |
Design Interface Mapping for Efficient Free-form Tele-manipulation | https://ieeexplore.ieee.org/document/9982149/ | [
"Achyuthan Unni Krishnan",
"Tsung-Chi Lin",
"Zhi Li",
"Achyuthan Unni Krishnan",
"Tsung-Chi Lin",
"Zhi Li"
] | Motion tracking interfaces are intuitive for free-form teleoperation tasks. However, efficient manipulation control can be difficult with such interfaces because of issues like the interference of unintended motions and the limited precision of human motion control. The limitation in control efficiency reduces the operator's performance and increases their workload and frustration during robot tel... |
DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-aware Flow | https://ieeexplore.ieee.org/document/9981418/ | [
"Xin Jing",
"Xiaqing Ding",
"Rong Xiong",
"Huanjun Deng",
"Yue Wang",
"Xin Jing",
"Xiaqing Ding",
"Rong Xiong",
"Huanjun Deng",
"Yue Wang"
] | Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration methods should be able to extract information from the environment to construct the cross-modal data association. Convolutional neural networks (CNNs) have powerful f... |
CSA-SVM method for internal cavitation defects detection and its application of district heating pipes | https://ieeexplore.ieee.org/document/9981830/ | [
"Yanran Chen",
"Shugen Ma",
"Longchuan Li",
"Zhiqing Li",
"Yulin Yang",
"Yanran Chen",
"Shugen Ma",
"Longchuan Li",
"Zhiqing Li",
"Yulin Yang"
] | The goal of this paper is to develop an ultrasonic detection device that can be mounted on an underwater snake vehicle (USV) for underwater district heating pipe (DHP) detection in the future. Ultrasonic detection technology (UDT) is the detection means used, and the cavitation defects in polyurethane (PUR) layer of DHPs are the object being detected. Due to the large thickness of PUR layer and th... |
Industrial Robot Parameter Identification using a Constrained Instrumental Variable Method | https://ieeexplore.ieee.org/document/9981816/ | [
"Fabio Ardiani",
"Alexandre Janot",
"Mourad Benoussaad",
"Fabio Ardiani",
"Alexandre Janot",
"Mourad Benoussaad"
] | Robot identification is a prolific topic that has a long history with results spanning recent decades. Recent years have witnessed a renew of interest in this problem due in part to a rapid increase in robotic hardware platforms capable of accurate model-based control. The most popular methods exploit the fact that the inverse dynamic model is linear to the dynamic parameters. Because we identify ... |
TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis | https://ieeexplore.ieee.org/document/9981651/ | [
"Haohao Hu",
"Fengze Han",
"Frank Bieder",
"Jan-Hendrik Pauls",
"Christoph Stiller",
"Haohao Hu",
"Fengze Han",
"Frank Bieder",
"Jan-Hendrik Pauls",
"Christoph Stiller"
] | In this paper, we present TEScalib, a novel extrinsic self-calibration approach of LiDAR and stereo camera using the geometric and photometric information of surrounding environments without any calibration targets for automated driving vehicles. Since LiDAR and stereo camera are widely used for sensor data fusion on automated driving vehicles, their extrinsic calibration is highly important. Howe... |
Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-camera Using an Orthogonal Trihedron | https://ieeexplore.ieee.org/document/9981482/ | [
"Zhengbin Li",
"Haiqing Dong",
"Dong Liu",
"Yabin Ding",
"Zhengbin Li",
"Haiqing Dong",
"Dong Liu",
"Yabin Ding"
] | 2D laser range-finders and depth-cameras are usually equipped on service robots. But there are rarely calibration methods of them. This paper proposes an extrinsic calibration method of a 2D laser range-finder and a depth-camera using an orthogonal trihedron. The trihedron with orthogonal assumptions is taken as a reference frame to roughly estimate the relative pose between the sensors by solving... |
Continuous Calibration and Narrow Compensation Algorithm to Estimate a Joint Axis under the Various Conditions with Unit Sensor | https://ieeexplore.ieee.org/document/9981747/ | [
"Wonjeong Seo",
"Haseok Lee",
"Jungsu Choi",
"Wonjeong Seo",
"Haseok Lee",
"Jungsu Choi"
] | Wearable robots have been developed to aid or substitute the gait locomotion of humans. To assist gait locomotion based on the intention of a wearer, a gait pattern analysis is required with a wearable sensor by measuring body information, i.e., a joint angular velocity. However, measuring a precise joint angular velocity is difficult because the attachment position of a sensor has a curvature and... |
Visual-Inertial-Aided Online MAV System Identification | https://ieeexplore.ieee.org/document/9982263/ | [
"Chuchu Chen",
"Yulin Yang",
"Patrick Geneva",
"Woosik Lee",
"Guoquan Huang",
"Chuchu Chen",
"Yulin Yang",
"Patrick Geneva",
"Woosik Lee",
"Guoquan Huang"
] | System modeling and parameter identification of micro aerial vehicles (MAV) are crucial for robust autonomy, especially under highly dynamic motions. Visual-inertial-aided online parameter identification has recently seen research attention due to the demanding of adaptation to platform configuration changes with minimal onboard sensor requirements. To this end, we design an online MAV system iden... |
Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles using Static Objects Information | https://ieeexplore.ieee.org/document/9981606/ | [
"Brahayam Ponton",
"Magda Ferri",
"Lars König",
"Marcus Bartels",
"Brahayam Ponton",
"Magda Ferri",
"Lars König",
"Marcus Bartels"
] | For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately determined. Traditional calibration methods are based on: 1) using targets specifically designed for calibration purposes in controlled environments, 2) optimizi... |
Drift Reduced Navigation with Deep Explainable Features | https://ieeexplore.ieee.org/document/9981330/ | [
"Mohd Omama",
"Sripada V. S. Sundar",
"Sandeep Chinchali",
"Arun Kumar Singh",
"K. Madhava Krishna",
"Mohd Omama",
"Sripada V. S. Sundar",
"Sandeep Chinchali",
"Arun Kumar Singh",
"K. Madhava Krishna"
] | Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even radar-based simultaneous localization and mapping (SLAM) frameworks for precise localization and navigation. However, modern SLAM frameworks often lead to unacceptably high levels of drift (i.e., localization error) when AVs observe few visually distinct features or encounter occlusions due to dynamic obstacles. This paper argu... |
A Robust and Fast Occlusion-based Frontier Method for Autonomous Navigation in Unknown Cluttered Environments | https://ieeexplore.ieee.org/document/9982059/ | [
"Nicholas Mohammad",
"Nicola Bezzo",
"Nicholas Mohammad",
"Nicola Bezzo"
] | Navigation through unknown, cluttered environments is a fundamental and challenging task for autonomous vehicles as they must deal with a myriad of obstacle configurations typically unknown a priori. Challenges arise because obstacles of unknown shapes and dimensions can create occlusions limiting sensor field of view and leading to uncertainty in motion planning. In this paper we propose to lever... |
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors | https://ieeexplore.ieee.org/document/9981518/ | [
"Yunfan Ren",
"Fangcheng Zhu",
"Wenyi Liu",
"Zhepei Wang",
"Yi Lin",
"Fei Gao",
"Fu Zhang",
"Yunfan Ren",
"Fangcheng Zhu",
"Wenyi Liu",
"Zhepei Wang",
"Yi Lin",
"Fei Gao",
"Fu Zhang"
] | Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion planning algorithm based on the corridor-constrained minimum control effort trajectory optimization (MINCO) framework. Specifically, we use a series of overlappi... |
Temporal Context for Robust Maritime Obstacle Detection | https://ieeexplore.ieee.org/document/9982043/ | [
"Lojze Žust",
"Matej Kristan",
"Lojze Žust",
"Matej Kristan"
] | Robust maritime obstacle detection is essential for fully autonomous unmanned surface vehicles (USVs). The currently widely adopted segmentation-based obstacle detection methods are prone to misclassification of object reflections and sun glitter as obstacles, producing many false positive detections, effectively rendering the methods impractical for USV navigation. However, water-turbulence-induc... |
Information-Aware Guidance for Magnetic Anomaly based Navigation | https://ieeexplore.ieee.org/document/9981709/ | [
"J. Humberto Ramos",
"Jaejeong Shin",
"Kyle Volle",
"Paul Buzaud",
"Kevin Brink",
"Prashant Ganesh",
"J. Humberto Ramos",
"Jaejeong Shin",
"Kyle Volle",
"Paul Buzaud",
"Kevin Brink",
"Prashant Ganesh"
] | In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumu-lation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to achieve a higher degree of autonomy and reliability, both in terms of decision making and safety. This paper details the use of two navigation systems for aut... |
AIB-MDP: Continuous Probabilistic Motion Planning for Automated Vehicles by Leveraging Action Independent Belief Spaces | https://ieeexplore.ieee.org/document/9981696/ | [
"Maximilian Naumann",
"Christoph Stiller",
"Maximilian Naumann",
"Christoph Stiller"
] | While automated research vehicles are already populating the roads, their commercial availability at scale is still to come. Presumably, one of the key challenges is to derive behaviors that are safe and comfortable but at the same time not overcautious, despite considerable uncertainties. These uncertainties stem from imperfect perception, occlusions and limited sensor range, but also from the un... |
InCOpt: Incremental Constrained Optimization using the Bayes Tree | https://ieeexplore.ieee.org/document/9982178/ | [
"Mohamad Qadri",
"Paloma Sodhi",
"Joshua G. Mangelson",
"Frank Dellaert",
"Michael Kaess",
"Mohamad Qadri",
"Paloma Sodhi",
"Joshua G. Mangelson",
"Frank Dellaert",
"Michael Kaess"
] | In this work, we investigate the problem of incre-mentally solving constrained non-linear optimization problems formulated as factor graphs. Prior incremental solvers were either restricted to the unconstrained case or required periodic batch relinearizations of the objective and constraints which are expensive and detract from the online nature of the algorithm. We present InCOpt, an Augmented La... |
S3LAM: Structured Scene SLAM | https://ieeexplore.ieee.org/document/9981370/ | [
"Mathieu Gonzalez",
"Eric Marchand",
"Amine Kacete",
"Jerome Royan",
"Mathieu Gonzalez",
"Eric Marchand",
"Amine Kacete",
"Jerome Royan"
] | We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution is twofold: i) A new SLAM system based on ORB-SLAM2 that creates a semantic map made of clusters of points corresponding to objects instances and structures in t... |
Fast Structural Representation and Structure-aware Loop Closing for Visual SLAM | https://ieeexplore.ieee.org/document/9981496/ | [
"Shuxiang Xie",
"Ryoichi Ishikawa",
"Ken Sakurada",
"Masaki Onishi",
"Takeshi Oishi",
"Shuxiang Xie",
"Ryoichi Ishikawa",
"Ken Sakurada",
"Masaki Onishi",
"Takeshi Oishi"
] | Perceptual Aliasing is one of the main problems in simultaneous localization and mapping (SLAM). Wrong associations between different places may lead to failure of the whole map. Research on structure information is rarely investigated among existing solutions to this problem. In cases of visual SLAM without sensors, such as LiDAR or Inertial Measurement Unit (IMU), structure information can rarel... |
Efficient 2D Graph SLAM for Sparse Sensing | https://ieeexplore.ieee.org/document/9981200/ | [
"Hanzhi Zhou",
"Zichao Hu",
"Sihang Liu",
"Samira Khan",
"Hanzhi Zhou",
"Zichao Hu",
"Sihang Liu",
"Samira Khan"
] | Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser range-finders (LiDARs). However, these sensors are not suitable for resource-limited nano robots, which become increasingly capable and ubiquitous nowadays, an... |
Spectral Measurement Sparsification for Pose-Graph SLAM | https://ieeexplore.ieee.org/document/9981584/ | [
"Kevin J. Doherty",
"David M. Rosen",
"John J. Leonard",
"Kevin J. Doherty",
"David M. Rosen",
"John J. Leonard"
] | Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of “lifelong” SLAM, particularly under memory or computation constraints, a robot must be able to determine what information should be retained and what can safely be forgotten. In graph-based SLAM, the number of edges (measurements) in a pose graph determines b... |
BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend | https://ieeexplore.ieee.org/document/9982015/ | [
"Tsang-Kai Chang",
"Alexandra Pogue",
"Ankur Mehta",
"Tsang-Kai Chang",
"Alexandra Pogue",
"Ankur Mehta"
] | In this paper we present BOEM-SLAM, a backend for visual-inertial SLAM systems capable of creating a globally consistent trajectory and map without retaining the entire history of data. By leveraging the hidden Markov model structure, BOEM-SLAM can summarize historical data into sufficient statistics and then discard it. As a data-efficient algorithm, BOEM-SLAM addresses the growing computational ... |
Robotic Auscultation over Clothes for Eliminating Gender Bias | https://ieeexplore.ieee.org/document/9981054/ | [
"Ryosuke Tsumura",
"Akihiro Umezawa",
"Yuko Morishima",
"Hiroyasu Iwata",
"Yoshihiko Koseki",
"Naotaka Nitta",
"Kiyoshi Yoshinaka",
"Ryosuke Tsumura",
"Akihiro Umezawa",
"Yuko Morishima",
"Hiroyasu Iwata",
"Yoshihiko Koseki",
"Naotaka Nitta",
"Kiyoshi Yoshinaka"
] | During auscultation, patients in difficult age often feel embarrassed and uncomfortable when exposing their chests to doctors of the different gender and being touched physically by doctors. We assume that an auscultation with robot technology can address the aforementioned gender-related issue. Toward eliminating gender bias during auscultation exam, this paper proposes a robotic platform which e... |
Magnetic microrobot control using an adaptive fuzzy sliding-mode method | https://ieeexplore.ieee.org/document/9981438/ | [
"Alireza Mousavi",
"Hesam Khaksar",
"Awais Ahmed",
"Hongsoo Choi",
"Ali Kafash Hoshiar",
"Alireza Mousavi",
"Hesam Khaksar",
"Awais Ahmed",
"Hongsoo Choi",
"Ali Kafash Hoshiar"
] | The magnetic medical microrobots are influenced by diverse factors such as the medium, the geometry of the microrobot, and the imaging procedure. It is worth noting that the size limitations make it difficult or even impossible to obtain reliable physical properties of the system. In this research, to achieve a precise microrobot control using minimum knowledge about the system, an Adaptive Fuzzy ... |
Excavation of Fragmented Rocks with Multi-modal Model-based Reinforcement Learning | https://ieeexplore.ieee.org/document/9981537/ | [
"Yifan Zhu",
"Liyang Wang",
"Liangjun Zhang",
"Yifan Zhu",
"Liyang Wang",
"Liangjun Zhang"
] | This paper presents a multi-modal model-based reinforcement learning (MBRL) approach to the excavation of fragmented rocks, which are very challenging to model due to their highly variable sizes and geometries, and visual occlusions. A multi-modal recurrent neural network (RNN) learns the dynamics of bucket-terrain interaction from a small physical dataset, with a discrete set of motion primitives... |
Model Learning and Predictive Control for Autonomous Obstacle Reduction via Bulldozing | https://ieeexplore.ieee.org/document/9981911/ | [
"W. Jacob Wagner",
"Katherine Driggs-Campbell",
"Ahmet Soylemezoglu",
"W. Jacob Wagner",
"Katherine Driggs-Campbell",
"Ahmet Soylemezoglu"
] | We investigate how employing model learning methods in concert with model predictive control (MPC) can be used to automate obstacle reduction to mitigate risks to Combat Engineers operating construction equipment in an active battlefield. We focus on the task of earthen berm removal using a bladed vehicle. We introduce a novel data-driven formulation for earthmoving dynamics that enables predictio... |
External load estimation of hydraulically driven construction machinery from cylinder pressures and link accelerations | https://ieeexplore.ieee.org/document/9981529/ | [
"Naotake Shimamura",
"Raita Katayama",
"Hikaru Nagano",
"Yuichi Tazaki",
"Yasuyoshi Yokokohji",
"Naotake Shimamura",
"Raita Katayama",
"Hikaru Nagano",
"Yuichi Tazaki",
"Yasuyoshi Yokokohji"
] | Remotely controlled hydraulically driven robots are expected to play an important role in extreme environments such as disaster sites, and force feedback is effective for improving the fidelity of the remote environment and the work efficiency. However, it is not reasonable to attach a force sensor directly to the end-point of a hydraulically driven robot. In a previous study, the authors showed t... |
Connected Reconfiguration of Polyominoes Amid Obstacles using RRT | https://ieeexplore.ieee.org/document/9981184/ | [
"Javier Garcia",
"Michael Yannuzzi",
"Peter Kramer",
"Christian Rieck",
"Aaron T. Becker",
"Javier Garcia",
"Michael Yannuzzi",
"Peter Kramer",
"Christian Rieck",
"Aaron T. Becker"
] | This paper investigates using a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of discrete, cellular structures using mobile robots, there are constraints that determine what tiles can be picked up and where they can be dropped off during reconfigura... |
Autonomous Mobile 3D Printing of Large-Scale Trajectories | https://ieeexplore.ieee.org/document/9982274/ | [
"Julius Sustarevas",
"Dimitrios Kanoulas",
"Simon Julier",
"Julius Sustarevas",
"Dimitrios Kanoulas",
"Simon Julier"
] | Mobile 3D Printing (M3DP), using printing-in-motion, is a powerful paradigm for automated construction. A mobile robot, equipped with its own power, materials and an arm-mounted extruder, simultaneously navigates and creates its environment. Such systems can be highly scalable, parallelizable and flexible. However, planning and controlling the motion of the arm and base at the same time is challen... |
Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles | https://ieeexplore.ieee.org/document/9981828/ | [
"Tetsu Akegawa",
"Kazunori Ohno",
"Shotaro Kojima",
"Naoto Miyamoto",
"Taro Suzuki",
"Tomohiro Komatsu",
"Takahiro Suzuki",
"Yukinori Shibata",
"Kimitaka Asano",
"Satoshi Tadokoro",
"Tetsu Akegawa",
"Kazunori Ohno",
"Shotaro Kojima",
"Naoto Miyamoto",
"Taro Suzuki",
"Tomohiro Komatsu",
"Takahiro Suzuki",
"Yukinori Shibata",
"Kimitaka Asano",
"Satoshi Tadokoro"
] | A large-scale dump truck that automatically transports earth and sand in cooperation with a human-operated backhoe is of interest to the construction industry. A human-operated dump truck generally drives slightly past the desired loading position and then backs up to it for loading the sediment. The turning and loading positions are subjectively decided according to the working posture of the bac... |
Towards Autonomous Visual Navigation in Arable Fields | https://ieeexplore.ieee.org/document/9981299/ | [
"Alireza Ahmadi",
"Michael Halstead",
"Chris McCool",
"Alireza Ahmadi",
"Michael Halstead",
"Chris McCool"
] | Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and can be impacted by lack of coverage. As such, autonomous navigation through sensors that can interpret their environment (such as cameras) is important to achie... |
STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations | https://ieeexplore.ieee.org/document/9981279/ | [
"Jiayi Wei",
"Jarrett Holtz",
"Isil Dillig",
"Joydeep Biswas",
"Jiayi Wei",
"Jarrett Holtz",
"Isil Dillig",
"Joydeep Biswas"
] | Accurate kinodynamic models play a crucial role in many robotics applications such as off-road navigation and high-speed driving. Many state-of-the-art approaches for learning stochastic kinodynamic models, however, require precise measurements of robot states as labeled input/output examples, which can be hard to obtain in outdoor settings due to limited sensor capabilities and the absence of gro... |
Smart Explorer: Recognizing Objects in Dense Clutter via Interactive Exploration | https://ieeexplore.ieee.org/document/9981813/ | [
"Zhenyu Wu",
"Ziwei Wang",
"Zibu Wei",
"Yi Wei",
"Haibin Yan",
"Zhenyu Wu",
"Ziwei Wang",
"Zibu Wei",
"Yi Wei",
"Haibin Yan"
] | Recognizing objects in dense clutter accurately plays an important role to a wide variety of robotic manipulation tasks including grasping, packing, rearranging and many others. However, conventional visual recognition models usually miss objects because of the significant occlusion among instances and causes incorrect prediction due to the visual ambiguity with the high object crowdedness. In thi... |
LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition | https://ieeexplore.ieee.org/document/9982272/ | [
"Guohao Peng",
"Yifeng Huang",
"Heshan Li",
"Zhenyu Wu",
"Danwei Wang",
"Guohao Peng",
"Yifeng Huang",
"Heshan Li",
"Zhenyu Wu",
"Danwei Wang"
] | Visual Place Recognition (VPR) has become an indispensable capacity for mobile robots to operate in large-scale environments. Existing methods in this field mostly focus on exploring high-performance encoding strategies, while few attempts are devoted to lightweight models that balance per-formance and computational cost. In this work, we propose a Lightweight Self-attentional Distillation Network... |
STUN: Self-Teaching Uncertainty Estimation for Place Recognition | https://ieeexplore.ieee.org/document/9981546/ | [
"Kaiwen Cai",
"Chris Xiaoxuan Lu",
"Xiaowei Huang",
"Kaiwen Cai",
"Chris Xiaoxuan Lu",
"Xiaowei Huang"
] | Place recognition is key to Simultaneous Localization and Mapping (SLAM) and spatial perception. However, a place recognition in the wild often suffers from erroneous predictions due to image variations, e.g., changing viewpoints and street appearance. Integrating uncertainty estimation into the life cycle of place recognition is a promising method to mitigate the impact of variations on place rec... |
ReINView: Re-interpreting Views for Multi-view 3D Object Recognition | https://ieeexplore.ieee.org/document/9981777/ | [
"Ruchang Xu",
"Wei Ma",
"Qing Mil",
"Hongbin Zha",
"Ruchang Xu",
"Wei Ma",
"Qing Mil",
"Hongbin Zha"
] | Multi-view-based 3D object recognition is important in robot-environment interaction. However, recent methods simply extract features from each view via convolutional neural networks (CNNs) and then fuse these features together to make predictions. These methods ignore the inherent ambiguities of each view caused due to 3D-2D projection. To address this problem, we propose a novel deep framework f... |
Dual-camera High Magnification Surveillance System with Non-delay Gaze Control and Always-in-focus Function in Indoor Scenes | https://ieeexplore.ieee.org/document/9981485/ | [
"Tianyi Zhang",
"Shaopeng Hu",
"Kohei Shimasaki",
"Idaku Ishii",
"Akio Namiki",
"Tianyi Zhang",
"Shaopeng Hu",
"Kohei Shimasaki",
"Idaku Ishii",
"Akio Namiki"
] | This study proposes a dual-camera system for indoor high magnification surveillance which is capable of achieving always-in-focus and non-delay gaze control based on high-speed vision. The users are enabled to move the mouse freely on the wide-view screen while observing its in-focal zoom-in monitoring video in real-time. The proposed system consists of a wide-angle camera for wide-view and a Galv... |
Mapping of Spatiotemporal Scalar Fields by Mobile Robots using Gaussian Process Regression | https://ieeexplore.ieee.org/document/9981548/ | [
"Thomas M. C. Sears",
"Joshua A. Marshall",
"Thomas M. C. Sears",
"Joshua A. Marshall"
] | Spatiotemporal maps are data-driven estimates of time changing phenomena. For environmental science, rather than collect data from an array of static sensors, a mobile sensor platform could reduce setup time and cost, maintain flexibility to be deployed to any area of interest, and provide active feedback during observations. While promising, mapping is challenging with mobile sensors because vehi... |
PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum | https://ieeexplore.ieee.org/document/9981274/ | [
"Seyed Amir Tafrishi",
"Ankit A. Ravankar",
"Yasuhisa Hirata",
"Seyed Amir Tafrishi",
"Ankit A. Ravankar",
"Yasuhisa Hirata"
] | Quantifying the safety of the human body ori-entation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information about stability and normality of human body orientations with real-time risk assessment. Also, this information can be used in cooperative robots and monitoring ... |
Regularized Deep Signed Distance Fields for Reactive Motion Generation | https://ieeexplore.ieee.org/document/9981456/ | [
"Puze Liu",
"Kuo Zhang",
"Davide Tateo",
"Snehal Jauhri",
"Jan Peters",
"Georgia Chalvatzaki",
"Puze Liu",
"Kuo Zhang",
"Davide Tateo",
"Snehal Jauhri",
"Jan Peters",
"Georgia Chalvatzaki"
] | Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and real-time collisions with the world around them. Distance-based constraints are fundamental for enabling robots to plan their actions and act safely, protecting... |
Safe and Ergonomic Human-Drone Interaction in Warehouses | https://ieeexplore.ieee.org/document/9981469/ | [
"Silvia Proia",
"Graziana Cavone",
"Antonio Camposeo",
"Fabio Ceglie",
"Raffaele Carli",
"Mariagrazia Dotoli",
"Silvia Proia",
"Graziana Cavone",
"Antonio Camposeo",
"Fabio Ceglie",
"Raffaele Carli",
"Mariagrazia Dotoli"
] | This paper presents an application of human-drone interaction (HDI) for inventory management in a ware-house 4.0 that aims at improving the operators' safety and well-being together with increasing efficiency and reducing production costs. In our work, the speed and separation monitoring (SSM) methodology is applied for the first time to HDI, in analogy to the human-robot interaction (HRI) ISO saf... |
Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space | https://ieeexplore.ieee.org/document/9981904/ | [
"Jonathan Vorndamme",
"Luis Figueredo",
"Sami Haddadin",
"Jonathan Vorndamme",
"Luis Figueredo",
"Sami Haddadin"
] | In order to transform a robot into an intelligent machine it needs to be enabled to react to unforeseen events (most importantly collisions) during task execution and have a plan on how to continue the task afterwards. This requires a flexible operational framework that allows to define adaptive reactions and interactions with the motion generation and task planning stage. Within this work we firs... |
Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton using Rate-Limiting | https://ieeexplore.ieee.org/document/9981943/ | [
"Jianwei Sun",
"Peter Walker Ferguson",
"Jacob Rosen",
"Jianwei Sun",
"Peter Walker Ferguson",
"Jacob Rosen"
] | In physical human-robot interaction (pHRI) enabled by admittance control, delay-induced oscillations arising from both the neuromuscular time-delays of the human and electromechanical delays of the robot can cause unsafe instability in the system. This study presents and evaluates rate-limiting as a means to overcome such instability, and provides a new perspective on how rate-limiting can benefit... |
Safe and Efficient Exploration of Human Models During Human-Robot Interaction | https://ieeexplore.ieee.org/document/9981085/ | [
"Ravi Pandya",
"Changliu Liu",
"Ravi Pandya",
"Changliu Liu"
] | Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in order to act both safely and efficiently. This paper studies methods that enable a robot to safely explore the space of a human-robot system to improve the robot... |
Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9981490/ | [
"Hosam Alagi",
"Serkan Ergun",
"Yitao Ding",
"Tom P. Huck",
"Ulrike Thomas",
"Hubert Zangl",
"Björn Hein",
"Hosam Alagi",
"Serkan Ergun",
"Yitao Ding",
"Tom P. Huck",
"Ulrike Thomas",
"Hubert Zangl",
"Björn Hein"
] | A robot must comply with very restrictive safety standards in close human-robot collaboration applications. These standards limit the robot's performance because of speed reductions to avoid potentially large forces exerted on humans during collisions. On-robot capacitive proximity sensors (CPS) can serve as a solution to allow higher speeds and thus better productivity. They allow early reactive ... |
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints | https://ieeexplore.ieee.org/document/9981969/ | [
"Grant Gibson",
"Oluwami Dosunmu-Ogunbi",
"Yukai Gong",
"Jessy Grizzle",
"Grant Gibson",
"Oluwami Dosunmu-Ogunbi",
"Yukai Gong",
"Jessy Grizzle"
] | This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and inadequate tangential reaction forces at the stance foot can cause slippages. We address these challenges by combining, in a novel manner, a model based on an Angu... |
Robust Contact State Estimation in Humanoid Walking Gaits | https://ieeexplore.ieee.org/document/9981354/ | [
"Stylianos Piperakis",
"Michael Maravgakis",
"Dimitrios Kanoulas",
"Panos Trahanias",
"Stylianos Piperakis",
"Michael Maravgakis",
"Dimitrios Kanoulas",
"Panos Trahanias"
] | In this article, we propose a deep learning frame-work that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contact). The proposed framework employs solely propriocep-tive sensing and although it relies on simulate... |
Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots | https://ieeexplore.ieee.org/document/9981206/ | [
"Pierluigi Arpenti",
"Alejandro Donaire",
"Fabio Ruggiero",
"Vincenzo Lippiello",
"Pierluigi Arpenti",
"Alejandro Donaire",
"Fabio Ruggiero",
"Vincenzo Lippiello"
] | This paper presents a novel control approach, based on the interconnection and damping-assignment passivity-based control (IDA-PBC), to achieve stable and periodic walking for underactuated planar biped robots with one degree of underactuation. The system's physical structure is preserved by assigning a target port-Hamiltonian dynamics to the closed-loop system, which also ensures passivity. The c... |
Learning Dynamic Bipedal Walking Across Stepping Stones | https://ieeexplore.ieee.org/document/9981884/ | [
"Helei Duan",
"Ashish Malik",
"Mohitvishnu S. Gadde",
"Jeremy Dao",
"Alan Fern",
"Jonathan Hurst",
"Helei Duan",
"Ashish Malik",
"Mohitvishnu S. Gadde",
"Jeremy Dao",
"Alan Fern",
"Jonathan Hurst"
] | In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively simple open-loop, perception-free scenarios. Our main contribution is a more advanced learning approach that enables real-world demonstrations, using the Cassie ... |
Humanoid Balance Control using Centroidal Angular Momentum based on Hierarchical Quadratic Programming | https://ieeexplore.ieee.org/document/9981036/ | [
"Myeong-Ju Kim",
"Daegyu Lim",
"Gyeongjae Park",
"Jaeheung Park",
"Myeong-Ju Kim",
"Daegyu Lim",
"Gyeongjae Park",
"Jaeheung Park"
] | Maintaining balance to external pushes is one of the most important features for a humanoid to walk in a real environment. In particular, methods for counteracting to pushes using the centroidal angular momentum (CAM) control have been actively developed. In this paper, a CAM control scheme based on hierarchical quadratic programming (HQP) is proposed. The scheme of the CAM control consists of CAM... |
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation | https://ieeexplore.ieee.org/document/9982009/ | [
"Victor C. Paredes",
"Ayonga Hereid",
"Victor C. Paredes",
"Ayonga Hereid"
] | We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the robot's center of mass (CoM) position and velocity at the end of the current step, and formulate a discrete controller that determines the next footstep locatio... |
Improved biped walking performance around the kinematic singularities of biomimetic four-bar knees | https://ieeexplore.ieee.org/document/9982027/ | [
"Aikaterini Smyrli",
"Evangelos Papadopoulos",
"Aikaterini Smyrli",
"Evangelos Papadopoulos"
] | This paper studies the effects of replacing pin-joint knees in passive dynamic bipedal walkers with biomimetic four-bar knees. The kinetic model of the four-bar knees is presented in detail, and an analytical model of the passive walking dynamics is derived. The resulting four-bar kneed biped is compared with a pin-joint kneed walker, for their passive walking performance. The geometry of the four... |
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