10 accepted papers
Robot-assisted needle insertion is widely employed in minimally invasive percutaneous interventions such as biopsy, brachytherapy, or ablation; however, most existing systems predominantly emphasize needle dexterity and manipulation within the soft tissue, neglecting the significant challenge of per
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control methods offer flexibility to define precise motion but are …
Modular Self-Reconfigurable Robots offer exceptional adaptability and versatility through reconfiguration, but traditional rigid robot designs lack the compliance necessary for effective interaction with complex environments. Recent advancements in modular soft robots address this shortcoming with e
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control methods offer flexibility to define precise motion but are
This paper focuses on the motion planning problem for serial articulated robots with revolute joints under kinematic constraints. Many motion planners leverage iterative local optimization methods but are often trapped in local minima due to non-convexity of the problem. A key reason for the non-con
Deep learning has demonstrated promising results over traditional hand-crafted methods for automatic modulation classification (AMC), which plays a critical role as an intermediate step between signal detection and modulation. However, acquiring large-scale labeled data remains challenging, as both…
Robots designed for in-pipe navigation, inspection, and repair require flexibility for intricate pipeline traversal and the strength to carry payloads. However, conventional wheeled in-pipe robots face challenges in simultaneously achieving both substantial flexibility and payload-carrying capacity.
When coordinating the motion of connected autonomous vehicles at a signal-free intersection, the vehicles from each direction naturally forms a team and each team seeks to minimize their own traversal time through the intersection, without concerning the traversal times of other teams. Since the int…
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic segmentation is largely used to discard dynamic associations before es…
This paper describes the development of BACH (Belt-Augmented Compliant Hand), a compliant robotic hand equipped with active surfaces. The hand can securely grasp an object using power grasp and simultaneously manipulate the grasped object. The hand consists of three identical fingers, each with an a…