4 accepted papers
Variable stiffness actuators (VSAs) are an important class of compliant actuators that can benefit the robustness and task adaptability of robotic systems. However, controlling VSAs is still challenging as VSAs are difficult to model exactly and have highly nonlinear characteristics. This study appl
Variable impedance control (VIC) is paramount for robots to improve safety and effectiveness in physical human-robot interaction. However, achieving variable target impedance with guaranteed stability is not trivial, particularly under parametric uncertainty in the robot dynamics. This letter propos
Loop closure detection (LCD) is a crucial technique for robots, which can correct accumulated localization errors after long time explorations. In this paper, we propose a robust LCD algorithm based on Bag of SuperPoints and graph verification. The system first extracts interest points and feature d…
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network. We propose to fuse the peer-to…