9 accepted papers
Dual-arm robots are widely used to cooperatively manipulate large, heavy objects that exceed single-arm payload limits. However, conventional dual-arm planners typically assume that the object is already positioned within the reachable and graspable workspace of both end-effectors. When the object l
Clustered-object environments challenge robotic grasp planning and implementation mainly for two reasons: (i) the limited inter-object clearance leaves insufficient space for conventional gripper fingers to approach and wrap the target object without collisions, and (ii) perception-induced position
The nonlinearity and uncertainty of dynamics pose significant challenges to ensuring the tracking performance of joint trajectories, especially time-varying effects on the load and temperature. In this letter, we present an adaptive neural computed torque control scheme to improve the tracking accur
In this letter, we present an innovative, tightly-coupled LiDAR-Visual-Inertial Odometry and Mapping framework, termed LVIO-Fusion, which achives robust and precise state estimation and map construction in environments characterized by LiDAR-degenerated and texture-less. The LVIO-Fusion is comprised
Compliance is good. However, it is challenging for one compliant continuum robot to finish both high precision manipulation and environmental-adapted motions. In this paper, a modular continuum robot with the alterable compliance characteristic is proposed. Besides, an actuation module is also propo…
Regular maintenance of pipelines is an important task to ensure oil transportation and other operation (sewers, nature gas). Precise localization of pipeline damage can greatly improve the efficiency of maintenance work. Since the texture similarity and illumination change of pipe, traditional local…
A mobile mapping system (MMS) is a widely-used moving platform for the acquisition of rich geospatial information and requires sensor calibration to guarantee data quality. Global navigation satellite system (GNSS) sensor and light detection and ranging (LiDAR) are important parts of an MMS, and the
To cope with the requirements on efficiency and labour-saving of the out-pipe surface grinding tasks in the wild, several proposals are revealed and discussed. The one benefiting from the characteristics of planetary gear transmission and friction actuating mechanism are expatiated. To realize full…
We propose a framework for odometry, mapping and ground segmentation using a backpack LiDAR system that achieves both real-time and low-drift performance. First, we present a spatio-temporal calibration method to carefully merge scans from the two laser scanners on a backpack. Second, we propose a f