11 accepted papers
Robotic grasp has been employed in various industrial, household, and medical applications. However, neglecting the final grasping state and objects' stiffness and affordance, prevailing strategies predominantly emphasize the grippers’ initial state upon reaching grasp positions and often fail due t…
Data gloves offer excellent portability and a strong ability to handle occluded movements, making them more advantageous over other methods for capturing complex hand motions in unstructured environments. However, the majority of existing hand-motion-capture gloves do not preserve visual features of
Data gloves offer excellent portability and a strong ability to handle occluded movements, making them more advantageous over other methods for capturing complex hand motions in unstructured environments. However, the majority of existing hand-motion-capture gloves do not preserve visual features of…
Fully actuated system approach (FASA) provides a promising control framework for robots with redundant actuation, offering simplified controller design and increased design freedom. However, its application to legged robots remains challenging due to hybrid actuation from intermittent ground contact…
Fully actuated system approach (FASA) provides a promising control framework for robots with redundant actuation, offering simplified controller design and increased design freedom. However, its application to legged robots remains challenging due to hybrid actuation from intermittent ground contact
Vehicle trajectory prediction serves as a critical enabler for autonomous navigation and intelligent transportation systems. While existing approaches predominantly focus on temporal pattern extraction and vehicle-environment interaction modeling, they exhibit a fundamental limitation in addressing…
Soft growing robots with unique navigation (tip extension by eversion) hold great promise in rescue, medical, and industrial applications. Equipping them with grasping capability would enhance their usefulness in constrained environments for various applications. However, in traditional designs, the…
This paper introduces a novel monocular visual odometry network structure, leveraging the Swin Transformer as the backbone network, named SWformer-VO. It can directly estimate the six degrees of freedom camera pose under monocular camera conditions by utilizing a modest volume of image sequence data
Tensegrity robots are composed of simple members (rigid bodies and tensile cables) and have features like lightweight, compliance, and robustness, thus representing a promising alternative to soft and rigid robots. Forward statics, which determines the robot pose in static equilibrium, is very helpf
Cable-driven continuum robots exhibit accessing and manipulation capabilities in constrained and cluttered environments that are unachievable for traditional robots composing of discrete links and joints. However, the existing continuum robots structured by non-scalable backbones are monofunctional,
In this letter, a novel dynamic model of a cable-driven continuum robot is established based on the principle of virtual power, in which the dynamically centralized length of the driving cable is used to simulate the driving process. This loading model implicitly represents the driving loads and exp