25 accepted papers
Despite its resilience in adverse weather, millimeter-wave (mmWave) radar yields sparse and noisy point clouds that limit its perception and localization performance. Diffusion models have recently gained attention for enhancing millimeter-wave radar in perception tasks due to their strong denoising…
Trajectory planning is a core task in autonomous driving. However, in diverse extreme scenarios characterized by unstructured obstacles, there is a lack of solutions that provide efficient computation, safety, and scene generalization capabilities. To address this issue, we propose a two-stage spati…
In the field of robotic manipulation, traditional methods lack the flexibility required to meet the demands of diverse applications. Consequently, researchers have increasingly focused on developing more general techniques, particularly for long-horizon and gentle manipulation, to enhance the manipu
Quadruped manipulators require precise detection of external forces to perform a series of force-related tasks during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. Conventional momentum based observer
A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space. However, most existing occupancy estimation methods rely on LiDAR
This paper introduces the Conflict-Based Three-agent Meeting with Pickup (CBTMP), a near-optimal algorithm tailored for cooperative multi-agent path finding in heterogeneous environments, specifically to boost the operational efficiency of intelligent warehouses. CBTMP is a two-level algorithm. The
Online map construction is essential for autonomous robots to navigate in unknown environments. However, the presence of dynamic objects may introduce artifacts into the map, which can significantly degrade the performance of localization and path planning. To tackle this problem, a novel online dyn
This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring any rotor fault information or controller switching. Unlike e
Differential-drive robots are widely used in dynamic pedestrian environments, such as hospitals, for time-sensitive tasks like medication delivery, which require high navigation efficiency to ensure timely arrivals. However, existing methods tend to overemphasize safety, resulting in overly conserva
In the field of dexterous robotic manipulation, integrating visual and tactile modalities to inform manipulation policies presents significant challenges, especially in non-contact scenarios where reliance on tactile perception can be inadequate. Visual affordance techniques currently offer effectiv
Quadruped manipulators require precise detection of external impact forces to ensure safe and compliant responses during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. This study introduces a whole-body
An increasing number of robotic manipulation tasks now use optical tactile sensors to provide tactile feedback, making tactile servo control a crucial aspect of robotic operations. This paper presents a rapid tactile transfer framework (RTTF) that achieves optical-tactile image sim2real transfer and…
In normal operations, when quadruped manipulators with impedance control experience external disturbances, they may become unstable and lose balance due to actuation saturation, affecting their stability, safety, and compliance with the environment. To address this issue, we propose a whole-body com…
It is challenging to realize the safe navigation of mobile robots in crowds. Most of the previous studies may lead to unsafe robot navigation in crowds, as safety guarantee is lacked. To solve this problem, we devise a safety filter (SF) that enables realization of safe robot navigation in crowds, a…
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped manipulator to track the motion of a dynamic object moving with un…
Snap-fit peg-in-hole assembly widely exists in both industry and daily life, especially for consumer electronics. The buckle mechanism leads to a damping zone inside the port where insertion force needs to be increased. It is much difficult to automate this process by robots, for size and clearance…
In complex urban environments, the Inertial Navigation System (INS) is important for navigating unmanned ground vehicles (UAVs) for its environment-independency and reliability of real-time localization. It is usually employed as the baseline in the case of other sensors failures, such as the GPS, L…
In this paper, a compliant five-bar leg mechanism is proposed, designed and manufactured for heavy-load legged robots, by using two magneto-rheological actuators (MRAs) that are capable of offering a maximal torque of 78Nm. To address the rate-dependent hysteresis of the MRA, a hybrid rate-dependent…
Magneto-rheological clutches (MRCs) are potential for providing jointed robots with the capability of behaving compliantly. However, due to the nonlinear dynamics of rate-dependent hysteresis exhibited by the MRC, precisely controlling its behaviors is still cumbersome. This paper firstly proposes a
Magneto-rheological actuators equipped with magneto-rheological clutches (MRCs) are newly used in robots to provide intrinsic compliance and sense human contacts. However, using the favorite finite element analysis (FEA) method to analyze and design MRCs is very computationally expensive and greatly
The grasping control of an aerial manipulator in practical environments is challenging due to its complex kinematics/dynamics and motion constraints. This paper introduces a lightweight aerial manipulator, which is combined with an X8 coaxial octocopter and a 4-DoF manipulator. To address the graspi…
In this paper, a novel contouring error estimation based on the canonical approximation is proposed, which is applicable for three-dimensional contours. The approximation is derived from the Taylor expansion locally of the desired contour. It retains major geometric properties of a spatial curve, cu
The contouring error and cross-coupled gains calculation have always been the critical issues in the application of cross-coupled control. Traditionally, the linear approximation and circular approximation are widely used to determine the contouring error and cross-coupled gains. However, for linear…
How to achieve the required contouring tracking accuracy especially during high-speed and large-curvature contouring tasks, has always been an important problem in manufacturing applications. In this paper, a contouring error estimation method based on natural local approximation is used, and then t…
According to the automobile industry's flexible manufacturing requirements, a novel flexible fixturing system for sheet metal assembly is proposed with parallel robots. A methodology of the structure synthesis is presented by taking account simultaneously several performance indices. Taking the 3UPU…