4 accepted papers
Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic guarantees, the ambiguity of its inlier threshold criterion makes it s
Unmanned aerial vehicles (UAVs) for contact-based tasks at height can greatly improve the safety of the human workers involved. However, performing contact-based tasks with typical under-actuated UAVs is non-trivial. Due to their coupled translational and rotational dynamics and their limited statio…
In robotic tasks that require physical interactions such as manipulation and legged locomotion, it is important to simultaneously measure contact forces and contact angles. This paper presents a unified solution for simultaneously measuring three axis contact forces and contact angles for legged loc…
This paper exemplifies the design process for legged machines capable of dynamic behaviors. In order to achieve high performance robots, it is crucial to guarantee harmonious integration between software and hardware. Hence, the development of such capable robotic platforms must address design requi…