14 accepted papers
Large language models (LLMs) have brought significant changes to many aspects of our lives. However, assessing and ensuring their chronological knowledge remains challenging. Existing approaches fall short in addressing the temporal adaptability of knowledge, often relying on a fixed time-point view…
Existing function-calling benchmarks focus on single-turn interactions. However, they overlook the complexity of real-world scenarios. To quantify how existing benchmarks address practical applications, we introduce DICE-SCORE, a metric that evaluates the dispersion of tool-related information such…
Recent advancements in large language models (LLM) capable of processing extremely long texts highlight the need for a dedicated evaluation benchmark to assess their long-context capabilities. However, existing methods, like the needle-in-a-haystack test, do not effectively assess whether these mode…
This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically assessed how robot size and surface orientation affect landin
In unilateral teleoperation systems, robots often face challenges when performing tasks with specific geometric constraints. These constraints restrict the robot's movements to certain directions, requiring accurate control of its position and orientation. If the operator's commands do not consider
This paper proposes a control structure for accurate tracking and compliant behavior of industrial manipulators without additional sensors. To achieve control objectives, friction, one of the biggest causes of performance degradation, should be compensated. For tracking performance, the estimated fr…
This paper proposes a teleoperation framework to exploit the maximum manipulation capability during teleoperation. Here, exploiting maximum manipulation capacity means that the robot moves with its maximum control input while not violating the given constraints, and it is a nonlinear optimization pr…
This paper analyzes the effect of control param-eters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping compensation were considered as the feed-forward input. Sufficient conditions and gui…
This paper proposes an admittance controller-based teleoperation system for contact-rich tasks. Based on the analysis of the motivating task (deposited iron lump removal task in the steel mill), the system concept is focused on the practical aspects of the system, and various components are combined…
Robust particle manipulation is a challenging but essential technique for single-cell analysis and processing of microfluidic devices. This paper proposes a micro-particle manipulation system with a microfluidic channel network. We built gravity-induced pressure actuators, which can generate high-re…
In this study, a forward dynamics-based control (FDC) framework is proposed for task space control of a nonredundant robot manipulator. The FDC framework utilizes forward dynamic robot simulation and an impedance controller to solve the inverse kinematics problem. For the practical use of the propos
Surface electromyograms (sEMG), are records of electrical signals generated by muscles, and have long been used to indicate the motions intended by humans to enable interactions between a robot and a human. To support not only the diverse movements in human daily living but also the task of increasi
Deployment of robotics and remote systems for tasks in unstructured nuclear environment has been impeded by the severe task requirements such as high radiation and dexterous and complex manipulation of heavy materials, which cannot be addressed by the current telerobotics technology. To address such…
We propose a fluidic monostable multivibrator (fMMV) circuit, which is a new flow-switching mechanism in microfluidic chips. Flow control using parallel fMMV circuits does not require an external controller; this is a distinct advantage over various conventional micro-flow control methods. The fMMV…