7 accepted papers
This letter proposes a control framework to enhance the robustness of a locomotion policy against uncertainties by integrating it with a deep disturbance observer (DOB) network and a deep state estimator network. The deep DOB approximates the inverse model of a quadrupedal robot. The locomotion poli…
This letter proposes a control framework to enhance the robustness of a locomotion policy against uncertainties by integrating it with a deep disturbance observer (DOB) network and a deep state estimator network. The deep DOB approximates the inverse model of a quadrupedal robot. The locomotion poli
The objective of this paper is to combine multiple frame-level features into a single utterance-level representation considering pair-wise relationships. For this purpose, we propose a novel graph attentive feature aggregation module by interpreting each frame-level feature as a node of a graph. The…
This study focuses on implementing robotic peg-in-hole in a more human-like approach, namely using dual-arms and dexterous robotic hands. The peg-in-hole strategy in this study mainly consists of two parts: grasping strategy (hand part) and assembly strategy (arm part). The grasping strategy explain
This study proposes a new way of estimating the hole direction to reduce the search time deviation in peg-in-hole assembly. To perform a peg-in-hole assembly, the hole position has to be found. In our previous studies, we found the hole using a blind search method. The blind search method moves the
The peg-in-hole method using the compliance characteristics of robots has advantages in terms of cost and speed compared to conventional methods based on contact force feedback with force/torque sensors. In our previous study, we proposed a compliant peg-in-hole assembly method based on blind search
In this paper, we propose a novel input device for a robotic prosthetic hand based on capacitance change. The proposed device can sense the deformation of the skin due to the activity of the muscle by measuring the capacitance change between the skin and the electrode. Therefore, it can be used as a…