11 accepted papers
During robotic disaster relief missions, state estimation still faces significant challenges, especially when GNSS is denied or sensor perception undergoes degradation. In this paper, we introduce a degradation-aware LiDAR-Thermal-Inertial SLAM, DaLiTI, that leverages the complementary nature of mul…
Robotic hand exoskeletons hold immense potential for enhancing human hand functionality, addressing the hand’s strength limitations and fatigue during physically-demanding tasks. However, most existing hand exoskeletons are motorized, being weak in generating high supporting force for gripping augme…
During robotic disaster relief missions, state estimation still faces significant challenges, especially when GNSS is denied or sensor perception undergoes degradation. In this paper, we introduce a degradation-aware LiDAR-Thermal-Inertial SLAM, DaLiTI, that leverages the complementary nature of mul
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative position between a handheld tool and a target object for humanoi
Robot-aided active rehabilitation has shown to be an effective treatment approach for hemiplegic patients. This paper presents an active control framework for lower limb rehabilitation, combining an interaction layer with a hierarchical trajectory deformation algorithm (HTDA), and an assist-as-neede
Robot skateboarding is a novel and challenging task for legged robots. Accurately modeling the dynamics of dual floating bases and developing effective planning and control methods present significant complexities in accomplishing skateboarding behavior. This paper focuses on enabling the quadrupeda…
Animals possessing spinal columns often exhibit exceptional agility for highly dynamic locomotion. The spine grants the trunk with increased degrees of freedom, thereby endowing diverse postures. This paper presents the development of a robot STRAY for quadrupedal locomotion, featuring a four-degree…
Torque ripple reduction in quasi-direct drive (QDD) motors is crucial in their robotic applications for dynamic locomotion and dexterous manipulation. In this paper, we present a novel approach for reducing torque ripples of QDD motors, which integrates an angle-based repetitive learning observer (A…
State estimation in complex illumination environments based on conventional visual-inertial odometry is a challenging task due to the severe visual degradation of the visual camera. The thermal infrared camera is capable of all-day time and is less affected by illumination variation. However, most e
Quadrupedal robots are performing increasingly more real-world capabilities, but are primarily limited to locomotion tasks. To expand their task-level abilities of object acquisition, i.e., run-to-catch as frisbee catching for dogs, this paper developed a control pipeline using stereo vision for leg…
This paper presents the development of a fish-like magnetically propelled microswimmer fabricated by 3D laser lithography. The microswimmer consists of a head and a caudal fin, just like a natural fish. There is a joint between the head and the fin so that the caudal fin can oscillate around the hea…