12 accepted papers
Legged robots require low-inertia limbs capable of carrying a high payload. The design of such limbs poses challenges in integrating optimal kinematic structures with practical design considerations. In the search for optimal design parameters, advantages of optimization algorithms can be applied. T
Visual localization methods often present a trade-off between the high efficiency of specialized approaches, such as scene coordinate regression, and the need for rich, versatile scene representations for broader robotics tasks. To bridge this gap, we explore the use of 3D Gaussian Splatting (3DGS),
Open Semantic Mapping (OSM) is a key technology in robotic perception, combining semantic segmentation and SLAM techniques. This paper introduces a dynamically configurable and highly automated LLM/LVLM-powered pipeline for evaluating OSM solutions called OSMa-Bench (Open Semantic Mapping Benchmark)
Visual odometry (VO) in underwater environments presents significant challenges due to poor visibility and dynamic scene changes, which render conventional (in-air) VO solutions unsuitable for underwater applications. We propose an underwater robust monocular visual odometry (UR-MVO) pipeline tailor
This paper describes a novel parametric optimization procedure for three flexure cross hinges (TFCH) integrated into multi-link leg mechanisms with closed-loop kinematics. Despite advantages such as compliance, no need for joint lubrication, light weight and cost-efficiency, such shaftless mechanism…
The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria simultaneously, even though they often contradict each other. The ultimate goal is to uncover the optimal solution that resolves these conflicting…
The main advantages of legged robots over wheeled ones are their abilities to traverse on uneven terrain due to the use of intermittent contacts and an ability to shift the center of mass relative to the contact location. A robot's leg design can be implemented by using an open-chain mechanism actua…
Designing robots is a multiphase process aimed at solving a multi-criteria optimization problem to find the best possible detailed design. Generative design (GD) aims to accelerate the design process compared to manual design, since GD allows exploring and exploiting the vast design space more effic…
Anthropomorphic robotic grippers are required for robots, prostheses, and orthosis to enable manipulation of a priori unknown and variable-shape objects. It has to meet a wide range of sometimes contradictory requirements in terms of adaptivity, dexterity, high payload to weight ratio, robustness, a…
We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to k…
The biomimetic approach in robotics is promising: nature has found many good solutions through millions of years of evolution. However, creating a design that enables fast and energy-efficient locomotion remains a major challenge. This paper focuses on the development of a full leg mechanism for a f…
Our work addresses the problem of planning an optimal pitching trajectory for compliant serial manipulators. We propose a generic framework for finding the longest possible pitch given angle, velocity, and torque constraints. Within this framework we can decompose an original infinite-dimensional ta…