9 accepted papers
Nowadays, robotic arms are ubiquitously employed for object manipulation across a spectrum of applications, spanning from production lines to warehouses, and encompassing both stationary and mobile robotic systems. Among the most prevalent end-effectors, used for the majority of these applications,…
The spectrum of applications of robotic systems is constantly being expanded in the research, industrial and even the defense sectors, ranging from manipulation and assembly to critical infrastructure monitoring and post-disaster response. Nevertheless, contemporary robotic capabilities are signific…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging problem and is typically addressed by exploiting force measurement…
In this article, we propose a deep learning frame-work that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contac…
In the current paper we investigate the challenges of localizing walking humanoid robots using Visual SLAM (VSLAM). We propose a novel dense RGB-D SLAM framework that seamlessly integrates with the dynamic state of a humanoid, to provide real-time localization and dense mapping of its surroundings.…
The capacity of a system to automatically analyze and predict the performance of a human in a particular task can provide important information in Human-Robot Interaction. Despite its usefulness, the above topic has received rather limited attention in the literature. In the current work, we introdu…
Contemporary humanoids are equipped with visual and LiDAR sensors that are effectively utilized for Visual Odometry (VO) and LiDAR Odometry (LO). Unfortunately, such measurements commonly suffer from outliers in a dynamic environment, since frequently it is assumed that only the robot is in motion a…
Contact detection is an important topic in contemporary humanoid robotic research. Up to date control and state estimation schemes readily assume that feet contact status is known in advance. In this work, we elaborate on a broader question: in which gait phase is the robot currently in? We introduc…
The ability to predict the duration of an activity can enable a robot to plan its behaviors ahead, interact seamlessly with other humans, by coordinating its actions, and allocate effort and resources to tasks that are time-constrained or critical. Despite its usefulness, models that examine the tem…