9 accepted papers
In human-robot interaction, external force measurement is fundamental to achieving robot compliance control. Parameter identification based on robot dynamics enables external force detection without expensive sensors. However, the unmodeled dynamic errors inherent in real robots pose a challenge to
This study addresses the challenge of generating high-quality motion plans within a short computation time using only a limited dataset. In the informed experience-driven random trees connect star (IERTC*) process, the algorithm flexibly explores the search trees by morphing the micro paths generate
2D forward looking sonar (FLS) has gained widespread application in underwater robotics research, primarily due to its capacity to produce high-resolution images in diverse aquatic environments. This study deals with pose estimation with given 3D positions and corresponding 2D pixels, which is a fun
This letter presents a novel stepwise multi-agent task planning method that incorporates neighborhood search to address large-scale problems, thereby reducing computation time. With an increasing number of agents, the search space for task planning expands exponentially. Hence, conventional methods
Existing learning from demonstration (LfD) frameworks have difficulty dealing with unreliable and limited number of demonstrations. To address this issue, we proposed a new motion planning framework named experience-driven random tree connect with human demonstration (ERTC-HD), which can facilitate
In this paper, we propose objective functions to estimate the principal contact between a unknown manipulated target object and its unknown surroundings from the motion of the object. We derived the objective functions based on the fact that contact involves a pair of geometrical primitives (a point…
This paper presents a contact-event-triggered filter using only a force-torque sensor with impedance control for non-cooperative, rotating, heavy object capture. Contact events are modeled for prediction, and detected to trigger the particle filter's updating process. By combining these features, a…
This paper proposes real-time collision-based contact mode estimation with only a force-torque sensor for capturing a moving rigid body. The contact modes are defined for determining when to generate the signal to close the robotic hand for establishing object closure. In our particle filter approac…
This paper reports the latest progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over a broad ditch with a height difference between the two sides. This work focuses on the methods of calculating the boundary and optimizing stepping…