9 accepted papers
This letter presents a modular micro-UAV system based on electro-permanent magnet (EPM) technology, addressing the critical challenges of energy-constrained docking mechanisms in resource-limited micro aerial platforms. Built upon the Crazyflie 2.1 platform, our 75 g modular design (with battery) fe
Tactile sensing is essential for robotic perception in scenarios where visual input is limited or unavailable. In this work, we propose a fully tactile-based 3D object reconstruction framework that recovers object shapes exclusively from contact observations. A robotic system comprising a robotic ar
Multi-robot systems (MRSs) are becoming increasingly important in various domains. However, effective communication and coordination among multiple robots remain significant challenges. In this letter, we introduce a novel architecture for multi-robot decision-making and control based on multi-agent
Tactile sensing plays a vital role for human hand function in terms of object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the fingertips for grasping or the upper-body for human-robot intera
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between local and remote workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g., picking objects with different poses on the two
Despite plenty of motion planning strategies have been proposed for bipedal locomotion, enhancing the walking robustness in real-world environments is still an open question. This paper focuses on robust body and leg trajectories synthesis through integrating constrained optimization with imitation…
The modulation of step location and duration plays an important role in realizing robust bipedal walking. This paper formulates it as a nonlinear programming problem (NLP) and proposes a novel optimization approach to adjust step location and duration in real time. Based on state feedback, the Linea…
When experiencing disturbances during locomotion, human beings use several strategies to maintain balance, e.g. changing posture, modulating step frequency and location. However, when it comes to the gait generation for humanoid robots, modifying step time or body posture in real time introduces non…
Compliant actuator is widely accepted for physical human-robot interaction due to its safety aspect, dynamic performance improvements and energy saving abilities. In this paper, based on the variable ratio lever mechanism, a new kind of Serial Variable Stiffness Actuator (SVSA) is proposed by using…