10 accepted papers
B* is a novel optimization framework that addresses a critical challenge in fixed-base manipulator robotics: optimal base placement. Current methods rely on pre-computed kinematics databases generated through sampling to search for solutions. However, they face an inherent trade-off between solution…
Self-driving laboratories have begun to replace human experimenters in performing single experimental skills or predetermined experimental protocols. However, as the pace of idea iteration in scientific research has been intensified by Artificial Intelligence, the demand for rapid design of new prot…
Industrial designers have long sought a natural and intuitive way to achieve the targeted control of prototype models---using simple natural language instructions to configure and adjust the models seamlessly according to their intentions, without relying on complex modeling commands. While Large La…
Accurate representation of procedures in restricted scenarios, such as non-standardized scientific experiments, requires precise depiction of constraints. Unfortunately, Domain-specific Language (DSL), as an effective tool to express constraints structurally, often requires case-by-case hand-craftin…
Recent development in Artificial Intelligence (AI) models has propelled their application in scientific discovery, but the validation and exploration of these discoveries require subsequent empirical experimentation. The concept of self-driving laboratories promises to automate and thus boost the ex…
The performance of over-actuated Unmanned Aerial Vehicles (UAVs) is significantly influenced by aerodynamic effects, as they are subject to different airflow conditions. For those aerodynamic effects that are difficult to model but could occur repeatedly, Iterative Learning Control (ILC) has great p
Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop con
Fully-actuated multi-rotor aerial platforms are receiving increasing research interests for the capability of six degree-of-freedom (DOF) motions such as hovering at non-horizontal attitude angles. Existing real world hardware and experiments have demonstrated such capability for a limited range of
Overhead manipulation tasks often require collaborations between two operators, which becomes challenging in confined spaces such as in a compartment. Supernumerary Robotic Limb (SuperLimb), as a promising wearable robotic solution, can provide assistance in terms of broader workspace, wider manipul
Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provide