8 accepted papers
The development of speech understanding and generation has been significantly accelerated by the availability of large-scale, high-quality speech datasets. Among these, ASR and TTS are regarded as the most established and fundamental tasks. However, for Cantonese (Yue Chinese), spoken by approximate
Drag-based swimming using rowing appendages, fins, and webbed feet is a widely adopted mode of locomotion in aquatic animals. To develop efficient underwater and swimming vehicles, various bioinspired drag-based paddle designs have been proposed, often facing a trade-off between propulsive efficienc
Variable stiffness actuator (VSA) can imitate natural muscles in their compliance capbility, which can provide flexible adaptability for robots, improving the safety of robots interacting with the environment or human. This paper presents a new compact serial variable stiffness actuator ((SVSA-III))…
This letter presents Open-Structure, a novel benchmark dataset for evaluating visual odometry and SLAM methods. Compared to existing public datasets that primarily offer raw images, Open-Structure provides direct access to point and line measurements, correspondences, structural associations, and co
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending stiffness simultaneously. Here, we draw inspiration from the…
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…
Series elastic actuator (SEA) has been widely used in rehabilitation robotics, where human-robot interaction is required. Due to its intrinsic compliance, SEA can improve the usage of power for its motor, which leads to a compact and lightweight SEA design. The aim of this paper is to reduce the ene…