12 accepted papers
The passive compliance of soft robotic arms renders the development of accurate kinematic models and model-based controllers challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC introduces errors when the robot is subject to exte…
The capability of humanoid robots to generate facial expressions is crucial for enhancing interactivity and emotional resonance in human-robot interaction. However, humanoid robots vary in mechanics, manufacturing, and ap-pearance. The lack of consistent processing techniques and the complexity of g…
Soft robotic arms have shown great potential toward applications to human daily lives, which is mainly due to their infinite passive degrees of freedom and intrinsic safety. There are tasks in lives that require the motion of the robot to meet some certain pose constraints that have not been impleme
Manipulation plays a vital role in robotics but is left unsolved. Recent work attempts to leverage the hierarchical structure of tasks via using action primitives. However, due to trajectory distribution shift, prior action primitives could hardly be adapted to new tasks. In this letter, we propose
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision avoidance (ORCA). However, their performances commonly need to be…
Using soft pneumatic actuators is a feasible solution in the dynamic unstructed environment, thanks to their light weight and inherent compliance. It is commonly agreed that the passive compliance and adaptivity of soft robots make them much safer. However, under some special circumstances where str
We propose an adaptive visual target tracking algorithm based on Label-Consistent K -Singular Value Decomposition (LC-KSVD) dictionary learning. To construct target templates, local patch features are sampled from foreground and background of the target. LC-KSVD then is applied to these local patche…
Soft compliant materials and novel actuation mechanisms ensure flexible motions and high adaptability for soft robots, but also increase the difficulty and complexity of constructing control systems. In this work, we provide an efficient control algorithm for a multi-segment extensible soft arm in 2…
Probabilistic graphical models, such as partially observable Markov decision processes (POMDPs), have been used in stochastic spoken dialog systems to handle the inherent uncertainty in speech recognition and language understanding. Such dialog systems suffer from the fact that only a relatively sma…
Most control methods of soft manipulators are developed based on physical models derived from mathematical analysis or learning methods. However, due to internal nonlinearity and external uncertain disturbances, it is difficult to build an accurate model, further, these methods lack robustness and p…
Soft manipulators have been a rising focus of soft robotics research. Taking advantage of soft materials and flexible, continuous movements, they have promising applicable prospect. However, their highly internal nonlinearity and unpredictable deformation caused by environmental effects make it diff…
In this paper, we propose a novel approach to generate a temporal consistent semantic map for 3D indoor scenes. In contrast to previous techniques which generate the semantic map on the whole global scene immediately or smooth the semantic predictions by a graph model, we intend to discover temporal…