7 accepted papers
Achieving human-like dexterous manipulation through the collaboration of multi-fingered hands with robotic arms remains a longstanding challenge in robotics, primarily due to the scarcity of high-quality demonstrations and the complexity of high-dimensional action spaces. To address these challenges…
Achieving robust locomotion on complex terrains remains a challenge due to high-dimensional control and environmental uncertainties. This paper introduces a teacher-prior framework based on the teacher-student paradigm, integrating imitation and auxiliary task learning to improve learning efficiency
Benefiting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable flexibility even within confined spaces. However, its motion planning and control pose significant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controlla…
LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom of loop detection and correction. Based on the 6-DO
This letter presents the first trajectory planning method for hybrid robot to perform powerline inspection involving obstacle navigation and landing. We develop a geometric model that incorporates constraints for landing the hybrid robot on a powerline, obstacle avoidance, and objectives that maximi
Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant man…
In scenarios of the overhead power line system, manual methods are inefficient and unsafe. Meanwhile, the majority of cantilevered robots have poor efficiency when crossing obstacles. This letter proposes a novel power line inspection and maintenance robot to solve these problems. The robot employs