title
stringlengths 26
165
| detail_url
stringlengths 45
45
| author_list
sequencelengths 2
36
| abstract
stringlengths 382
403
|
|---|---|---|---|
Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems | https://ieeexplore.ieee.org/document/9562018/ | [
"Boyi Liu",
"Lujia Wang",
"Xinquan Chen",
"Lexiong Huang",
"Dong Han",
"Cheng-Zhong Xu",
"Boyi Liu",
"Lujia Wang",
"Xinquan Chen",
"Lexiong Huang",
"Dong Han",
"Cheng-Zhong Xu"
] | A technological revolution is occurring in the field of robotics with the data-driven deep learning technology. However, building datasets for each local robot is laborious. Meanwhile, data islands between local robots make data unable to be utilized collaboratively. To address this issue, the work presents Peer-Assisted Robotic Learning (PARL) in robotics, which is inspired by the peer-assisted l... |
Lywal: a Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions | https://ieeexplore.ieee.org/document/9561128/ | [
"Yongjiang Xue",
"Xichen Yuan",
"Yuhai Wang",
"Yang Yang",
"Siyu Lu",
"Bo Zhang",
"Juezhu Lai",
"Jianming Wang",
"Xuan Xiao",
"Yongjiang Xue",
"Xichen Yuan",
"Yuhai Wang",
"Yang Yang",
"Siyu Lu",
"Bo Zhang",
"Juezhu Lai",
"Jianming Wang",
"Xuan Xiao"
] | This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and the wheel-mode for locomotion, and the claw-mode for picking up and transport functions. First, the mechanical structure of Lywal is designed by using an innovative 2-DoF transformable mechanism. Second, the calculation of kinematics is analyzed in detail. Then, the switching-mode strat... |
Stair Climbing Capability-Based Dimensional Synthesis for the Multi-legged Robot | https://ieeexplore.ieee.org/document/9562004/ | [
"Huayang Li",
"Chenkun Qi",
"Xianbao Chen",
"Liheng Mao",
"Yue Zhao",
"Feng Gao",
"Huayang Li",
"Chenkun Qi",
"Xianbao Chen",
"Liheng Mao",
"Yue Zhao",
"Feng Gao"
] | Staircase is a typical obstacle for the legged robot to overcome in buildings. This paper studies the stair climbing capability-based dimensional synthesis for a hexapod legged robot, i.e., exploring how to determine the leg length and the longitudinal body length concerning the target staircase in the mechanical design stage. In climbing a staircase, leg-staircase interference is one of the predo... |
Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies | https://ieeexplore.ieee.org/document/9561130/ | [
"Jiatao Ding",
"Songyan Xin",
"Tin Lun Lam",
"Sethu Vijayakumar",
"Jiatao Ding",
"Songyan Xin",
"Tin Lun Lam",
"Sethu Vijayakumar"
] | Stable walking in real-world environments is a challenging task for humanoid robots, especially when considering the dynamic disturbances, e.g., caused by external perturbations that may be encountered during locomotion. The varying nature of disturbance necessitates high adaptability. In this paper, we propose an enhanced Nonlinear Model Predictive Control (NMPC) approach for robust and adaptable... |
A Self-Training Approach-Based Traversability Analysis for Mobile Robots in Urban Environments | https://ieeexplore.ieee.org/document/9561394/ | [
"Hyunsuk Lee",
"Woojin Chung",
"Hyunsuk Lee",
"Woojin Chung"
] | This paper presents a method for LiDAR sensor-based traversability analysis for autonomous mobile robots in urban environments. Although urban environments are structured environments, a typical terrain comprises hazardous regions for mobile robots. Therefore, a reliable method for detecting traversable regions is required to prevent robots from getting stuck in the middle of the road. Conventiona... |
Proactive Interaction Framework for Intelligent Social Receptionist Robots | https://ieeexplore.ieee.org/document/9562115/ | [
"Yang Xue",
"Fan Wang",
"Hao Tian",
"Min Zhao",
"Jiangyong Li",
"Haiqing Pan",
"Yueqiang Dong",
"Yang Xue",
"Fan Wang",
"Hao Tian",
"Min Zhao",
"Jiangyong Li",
"Haiqing Pan",
"Yueqiang Dong"
] | Proactive human-robot interaction (HRI) allows the receptionist robots to actively greet people and offer services based on vision, which has been found to improve acceptability and customer satisfaction. Existing approaches are either based on multi-stage decision processes or based on end-to-end decision models. However, the rule-based approaches require sedulous expert efforts and only handle m... |
Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements | https://ieeexplore.ieee.org/document/9561544/ | [
"K. Y. Cadmus To",
"Felix H. Kong",
"Ki Myung Brian Lee",
"Chanyeol Yoo",
"Stuart Anstee",
"Robert Fitch",
"K. Y. Cadmus To",
"Felix H. Kong",
"Ki Myung Brian Lee",
"Chanyeol Yoo",
"Stuart Anstee",
"Robert Fitch"
] | We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realistic estimate in a computationally efficient manner suitable for use in marine robotics for path planning and related applications. We use kernel methods and singular value decomposition to find a compact model of the ens... |
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs | https://ieeexplore.ieee.org/document/9561926/ | [
"Fan Shi",
"Timon Homberger",
"Joonho Lee",
"Takahiro Miki",
"Moju Zhao",
"Farbod Farshidian",
"Kei Okada",
"Masayuki Inaba",
"Marco Hutter",
"Fan Shi",
"Timon Homberger",
"Joonho Lee",
"Takahiro Miki",
"Moju Zhao",
"Farbod Farshidian",
"Kei Okada",
"Masayuki Inaba",
"Marco Hutter"
] | Quadrupedal robots are skillful at locomotion tasks while lacking manipulation skills, not to mention dexterous manipulation abilities. Inspired by the animal behavior and the duality between multi-legged locomotion and multi-fingered manipulation, we showcase a circus ball challenge on a quadrupedal robot, ANYmal. We employ a model-free reinforcement learning approach to train a deep policy that ... |
Long-Range Hand Gesture Recognition via Attention-based SSD Network | https://ieeexplore.ieee.org/document/9561189/ | [
"Liguang Zhou",
"Chenping Du",
"Zhenglong Sun",
"Tin Lun Lam",
"Yangsheng Xu",
"Liguang Zhou",
"Chenping Du",
"Zhenglong Sun",
"Tin Lun Lam",
"Yangsheng Xu"
] | Hand gesture recognition plays an essential role in the human-robot interaction (HRI) field. Most previous research only studies hand gesture recognition in a short distance, which cannot be applied for interaction with mobile robots like unmanned aerial vehicles (UAVs) at a longer and safer distance. Therefore, we investigate the challenging long-range hand gesture recognition problem for the int... |
Spectral Temporal Graph Neural Network for Trajectory Prediction | https://ieeexplore.ieee.org/document/9561461/ | [
"Defu Cao",
"Jiachen Li",
"Hengbo Ma",
"Masayoshi Tomizuka",
"Defu Cao",
"Jiachen Li",
"Hengbo Ma",
"Masayoshi Tomizuka"
] | An effective understanding of the contextual environment and accurate motion forecasting of surrounding agents is crucial for the development of autonomous vehicles and social mobile robots. This task is challenging since the behavior of an autonomous agent is not only affected by its own intention, but also by the static environment and surrounding dynamically interacting agents. Previous works f... |
Dark Reciprocal-Rank: Teacher-to-student Knowledge Transfer from Self-localization Model to Graph-convolutional Neural Network | https://ieeexplore.ieee.org/document/9561158/ | [
"Takeda Koji",
"Tanaka Kanji",
"Takeda Koji",
"Tanaka Kanji"
] | In visual robot self-localization, graph-based scene representation and matching have recently attracted research interest as robust and discriminative methods for self-localization. Although effective, their computational and storage costs do not scale well to large-size environments. To alleviate this problem, we formulate self-localization as a graph classification problem and attempt to use th... |
Efficient SE(3) Reachability Map Generation via Interplanar Integration of Intra-planar Convolutions | https://ieeexplore.ieee.org/document/9561921/ | [
"Yiheng Han",
"Jia Pan",
"Mengfei Xia",
"Long Zeng",
"Yong-Jin Liu",
"Yiheng Han",
"Jia Pan",
"Mengfei Xia",
"Long Zeng",
"Yong-Jin Liu"
] | Convolution has been used for fast computation of reachability maps, but it has high computational costs when performing SE(3) convolution operations for general joint arrangements in industrial robots and 3D workspace. Its application is also limited to planar robots, 2D workspace, or robots with special spatial arrangements for joints. In this paper, we find that the SE(3) convolution can be dec... |
Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model | https://ieeexplore.ieee.org/document/9561742/ | [
"Yehui Li",
"Weibing Li",
"Wenci Xin",
"Xue Zhang",
"Yitian Xian",
"Philip Wai Yan Chiu",
"Zheng Li",
"Yehui Li",
"Weibing Li",
"Wenci Xin",
"Xue Zhang",
"Yitian Xian",
"Philip Wai Yan Chiu",
"Zheng Li"
] | Colorectal cancer incidence has been steadily rising worldwide. Magnetic colonoscopes provide new approaches to conduct colon inspection and treatment. This paper presents a novel electromagnetically actuated soft-tethered colonoscope to achieve precise and stable orientation control. An inflated balloon is designed to eliminate the unpredictable disturbance of the floating tether. A 2OR Pseudo-Ri... |
An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation | https://ieeexplore.ieee.org/document/9562040/ | [
"Makoto Jinno",
"Gang Li",
"Niravkumar Patel",
"Iulian Iordachita",
"Makoto Jinno",
"Gang Li",
"Niravkumar Patel",
"Iulian Iordachita"
] | Retinal surgeons are required to manipulate multiple surgical instruments in a confined intraocular space, while the instruments are constrained at the small incisions made on the sclera. Furthermore, physiological hand tremor can affect the precision of the instrument motion. The Steady-Hand Eye Robot (SHER), developed in our previous study, enables tremor-free tool manipulation by employing a co... |
Design of Soft Sensor for Feedback Control of Bio-actuator Powered by Skeletal Muscle | https://ieeexplore.ieee.org/document/9560817/ | [
"Eunhye Kim",
"Masaru Takeuchi",
"Ryosuke Ohira",
"Takuto Nomura",
"Yasuhisa Hasegawa",
"Qiang Huang",
"Toshio Fukuda",
"Eunhye Kim",
"Masaru Takeuchi",
"Ryosuke Ohira",
"Takuto Nomura",
"Yasuhisa Hasegawa",
"Qiang Huang",
"Toshio Fukuda"
] | In spite of recent high attention of the biohybrid robot system, the previous researches focused on actuation system depend on simple on/off control without feedback control. To solve this problem, we proposed a soft sensor for feedback control of a bio-actuator driven by skeletal muscle. The proposed soft sensor can measure contraction forces of the proposed bio-actuator [1]. The bio-actuator was... |
A portable acoustofluidic device for multifunctional cell manipulation and reconstruction | https://ieeexplore.ieee.org/document/9560812/ | [
"Wei Zhang",
"Bin Song",
"Xue Bai",
"Jingli Guo",
"Lin Feng",
"Fumihito Arai",
"Wei Zhang",
"Bin Song",
"Xue Bai",
"Jingli Guo",
"Lin Feng",
"Fumihito Arai"
] | Microbubble-induced acoustic microstreaming for efficient on-chip micromanipulation is widely developed in biological applications. However, it is still challenging to simultaneously transport, trap, and rotate single cells using one device in a biocompatible manner, while expensive and bulky traditional acoustic driving system also increases its limitation. This paper presents a portable acoustof... |
Design and soft-landing control of a six-legged mobile repetitive lander for lunar exploration | https://ieeexplore.ieee.org/document/9560984/ | [
"Ke Yin",
"Feng Gao",
"Qiao Sun",
"Jimu Liu",
"Tao Xiao",
"Jianzhong Yang",
"Shuiqing Jiang",
"Xianbao Chen",
"Jing Sun",
"Renqiang Liu",
"Chenkun Qi",
"Ke Yin",
"Feng Gao",
"Qiao Sun",
"Jimu Liu",
"Tao Xiao",
"Jianzhong Yang",
"Shuiqing Jiang",
"Xianbao Chen",
"Jing Sun",
"Renqiang Liu",
"Chenkun Qi"
] | The autonomous robots consisting of an immovable lander and a rover are widely deployed to explore extraterrestrial planets. However, these robots have two main limitations: (1) the separate design for lander and rover respectively results in heavy mass and big volume of the whole system, which increases the launching cost sharply; (2) the rover’s detection area has to be restricted to the vicinit... |
LEAF: Latent Exploration Along the Frontier | https://ieeexplore.ieee.org/document/9560922/ | [
"Homanga Bharadhwaj",
"Animesh Garg",
"Florian Shkurti",
"Homanga Bharadhwaj",
"Animesh Garg",
"Florian Shkurti"
] | Self-supervised goal proposal and reaching is a key component for exploration and efficient policy learning algorithms. Such a self-supervised approach without access to any oracle goal sampling distribution requires deep exploration and commitment so that long horizon plans can be efficiently discovered. In this paper, we propose an exploration framework, which learns a dynamics-aware manifold of... |
LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement | https://ieeexplore.ieee.org/document/9561263/ | [
"Hao-Hsiang Yang",
"Kuan-Chih Huang",
"Wei-Ting Chen",
"Hao-Hsiang Yang",
"Kuan-Chih Huang",
"Wei-Ting Chen"
] | Underwater image enhancement is an important low-level computer vision task for autonomous underwater vehicles and remotely operated vehicles to explore and understand the underwater environments. Recently, deep convolutional neural networks (CNNs) have been successfully used in many computer vision problems, and so does underwater image enhancement. There are many deep-learning-based methods with... |
Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood | https://ieeexplore.ieee.org/document/9561866/ | [
"Qianqian Wang",
"Yuan Tian",
"Xingzhou Du",
"Kai-Fung Chan",
"Li Zhang",
"Qianqian Wang",
"Yuan Tian",
"Xingzhou Du",
"Kai-Fung Chan",
"Li Zhang"
] | We propose ultrasound Doppler imaging and magnetic navigation of collective cell microrobots in whole blood. Cell microrobots are cultured using stem cells and iron microparticles, they have spheroidal structures and can be actuated under external magnetic fields. A collective of cell microrobots can be reversibly gathered and spread due to the tunable magnetic interaction, and are able to exhibit... |
Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust | https://ieeexplore.ieee.org/document/9561923/ | [
"Takuzumi Nishio",
"Moju Zhao",
"Tomoki Anzai",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba",
"Takuzumi Nishio",
"Moju Zhao",
"Tomoki Anzai",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba"
] | Precise aerial manipulation is important for multirotor robots. For multirotors equipped with arms, the root pose error due to the floating body affects the precision at the end effector. Fixed-root approaches, such as perching on surfaces using the rotor suction force, are useful to address this problem. Furthermore, it is difficult for arm-equipped multirotors to generate large wrenches at the e... |
Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments | https://ieeexplore.ieee.org/document/9561987/ | [
"Guillaume Sartoretti",
"Tianyu Wang",
"Gabriel Chuang",
"Qingyang Li",
"Howie Choset",
"Guillaume Sartoretti",
"Tianyu Wang",
"Gabriel Chuang",
"Qingyang Li",
"Howie Choset"
] | In this work, we focus on the autonomous navigation of snake robots in densely-cluttered environments, where collisions between the robot and obstacles are frequent, which could happen often in disaster scenarios, underground caves, or grassland/forest environments. This work takes the view that obstacles are not to be avoided, but rather exploited to support and direct the motion of the snake rob... |
Real-time Optimal Navigation Planning Using Learned Motion Costs | https://ieeexplore.ieee.org/document/9561861/ | [
"Bowen Yang",
"Lorenz Wellhausen",
"Takahiro Miki",
"Ming Liu",
"Marco Hutter",
"Bowen Yang",
"Lorenz Wellhausen",
"Takahiro Miki",
"Ming Liu",
"Marco Hutter"
] | Navigation on challenging terrain topographies requires the understanding of robots’ locomotion capabilities to produce optimal solutions. We present an integrated framework for real-time autonomous navigation of mobile robots based on elevation maps. The framework performs rapid global path planning and optimization that is aware of the locomotion capabilities of the robot. A GPU-aided, sampling-... |
Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers | https://ieeexplore.ieee.org/document/9561419/ | [
"Juan Chen",
"Caiming Sun",
"Aidong Zhang",
"Juan Chen",
"Caiming Sun",
"Aidong Zhang"
] | This paper presents an integrated methodology and experimental validation of an autonomous framework for unmanned underwater vehicles (UUVs) merely equipped with a conventional monocular camera and a pressure sensor to accomplish high-performance autonomy. Optimal pose of the UUV is solved iteratively by Levenburg-Marquardt optimization for the Perspective-n-Point (PnP) problem. To guarantee a con... |
Command Filtered Tracking Control for High-order Systems with Limited Transmission Bandwidth | https://ieeexplore.ieee.org/document/9561879/ | [
"Jialei Bao",
"Peter Xiaoping Liu",
"Huanqing Wang",
"Minhua Zheng",
"Ying Zhao",
"Jialei Bao",
"Peter Xiaoping Liu",
"Huanqing Wang",
"Minhua Zheng",
"Ying Zhao"
] | This paper investigates the tracking control problem of a class of high-order distributed systems subjected to limited communication bandwidth. An event-triggered control method is proposed, where the controller is triggered only when specific events happen. Moreover, the computational complexity is reduced by introducing command filters for virtual control signals. Specifically, the backstepping ... |
Multi-Scale Cost Volumes Cascade Network for Stereo Matching | https://ieeexplore.ieee.org/document/9560864/ | [
"Xiaogang Jia",
"Wei Chen",
"Chen Li",
"Zhengfa Liang",
"Mingfei Wu",
"Yusong Tan",
"Libo Huang",
"Xiaogang Jia",
"Wei Chen",
"Chen Li",
"Zhengfa Liang",
"Mingfei Wu",
"Yusong Tan",
"Libo Huang"
] | Stereo matching is essential for robot navigation. However, the accuracy of current widely used traditional methods is low, while methods based on CNN need expensive computational cost and running time. This is because different cost volumes play a crucial role in balancing speed and accuracy. Thus we propose MSCVNet, which combines traditional methods and neural networks to improve the quality of... |
Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems | https://ieeexplore.ieee.org/document/9561064/ | [
"Giovanni D’Urso",
"James Ju Heon Lee",
"Oscar Pizarro",
"Chanyeol Yoo",
"Robert Fitch",
"Giovanni D’Urso",
"James Ju Heon Lee",
"Oscar Pizarro",
"Chanyeol Yoo",
"Robert Fitch"
] | Systems of multiple low-cost, underactuated floats combined with fully actuated surface vessels can improve the scalability and cost-effectiveness of autonomous systems for marine science and environmental monitoring. Here, we consider a coordination problem where surface vessels must drop off floats at locations such that they are likely to drift to observe given points of interest, and later mus... |
Distributed Heuristic Multi-Agent Path Finding with Communication | https://ieeexplore.ieee.org/document/9560748/ | [
"Ziyuan Ma",
"Yudong Luo",
"Hang Ma",
"Ziyuan Ma",
"Yudong Luo",
"Hang Ma"
] | Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining collision-free policy is that agents need to learn co-operation to handle congested situations. This paper combines communication with deep Q-learning to provide... |
A Geometric Folding Pattern for Robot Coverage Path Planning | https://ieeexplore.ieee.org/document/9561433/ | [
"Lifeng Zhu",
"Shuai Yao",
"Boyang Li",
"Aiguo Song",
"Yiyang Jia",
"Jun Mitani",
"Lifeng Zhu",
"Shuai Yao",
"Boyang Li",
"Aiguo Song",
"Yiyang Jia",
"Jun Mitani"
] | Conventional coverage path planning algorithms are mainly based on the zigzag and spiral patterns or their combinations. The traversal order is limited by the linear or inside-outside manner. We propose a new set of coverage patterns induced from geometric folding operations, called the geometric folding pattern, to make coverage paths with more flexible traversal order. We study the modeling and ... |
Tree Search-based Task and Motion Planning with Prehensile and Non-prehensile Manipulation for Obstacle Rearrangement in Clutter | https://ieeexplore.ieee.org/document/9561895/ | [
"Jinhwi Lee",
"Changjoo Nam",
"Jonghyeon Park",
"Changhwan Kim",
"Jinhwi Lee",
"Changjoo Nam",
"Jonghyeon Park",
"Changhwan Kim"
] | We propose a tree search-based planning algorithm for a robot manipulator to rearrange objects and grasp a target in a dense space. We consider environments where tasks cannot be completed with prehensile planning only. As assuming that a manipulator is only allowed to grasp from the top, we aim to minimize the number of rearrangement actions and the total execution time, which affects the efficie... |
Active Information Acquisition under Arbitrary Unknown Disturbances | https://ieeexplore.ieee.org/document/9561479/ | [
"Jennifer Wakulicz",
"He Kong",
"Salah Sukkarieh",
"Jennifer Wakulicz",
"He Kong",
"Salah Sukkarieh"
] | Trajectory optimization of sensing robots to actively gather information of targets has received much attention in the past. It is well-known that under the assumption of linear Gaussian target dynamics and sensor models the stochastic Active Information Acquisition problem is equivalent to a deterministic optimal control problem. However, the above-mentioned assumptions regarding the target dynam... |
Real-time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector | https://ieeexplore.ieee.org/document/9561912/ | [
"Yi-Hung Lee",
"Kai-Tai Song",
"Yi-Hung Lee",
"Kai-Tai Song"
] | This paper proposes a real-time obstacle avoidance control scheme for a 6-DOF manipulator with a tool in the end effector. The system consists of environment monitoring, robot-tool segmentation and collision-free motion planning of the manipulator. A Kinect V2 RGB-D camera is used to track obstacles including human and objects in the working environment. The K-D tree algorithm is then adopted to c... |
Approximating Constraint Manifolds Using Generative Models for Sampling-Based Constrained Motion Planning | https://ieeexplore.ieee.org/document/9561456/ | [
"Cihan Acar",
"Keng Peng Tee",
"Cihan Acar",
"Keng Peng Tee"
] | Sampling-based motion planning under task constraints is challenging because the null-measure constraint manifold in the configuration space makes rejection sampling extremely inefficient, if not impossible. This paper presents a learning-based sampling strategy for constrained motion planning problems. We investigate the use of two well-known deep generative models, the Conditional Variational Au... |
Maintaining a Reliable World Model using Action-aware Perceptual Anchoring | https://ieeexplore.ieee.org/document/9561210/ | [
"Ying Siu Liang",
"Dongkyu Choi",
"Kenneth Kwok",
"Ying Siu Liang",
"Dongkyu Choi",
"Kenneth Kwok"
] | Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is a need for robots to maintain a model of its surroundings even when objects go out of view and are no longer visible. This requires anchoring perceptual informa... |
Dynamic Window Approach with Human Imitating Collision Avoidance | https://ieeexplore.ieee.org/document/9561703/ | [
"Sango Matsuzaki",
"Shinta Aonuma",
"Yuji Hasegawa",
"Sango Matsuzaki",
"Shinta Aonuma",
"Yuji Hasegawa"
] | The autonomous navigation in the crowded environment is a challenging task due to the sensor occlusion and the complex nature of the abstract social interactions. And yet, humans are capable of navigating in such complex environment. In this paper, we propose an effective navigation method that combines the learning-based and model-based methods in a way that a cost function that includes human im... |
Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions | https://ieeexplore.ieee.org/document/9561120/ | [
"Yuwei Liang",
"Weijie Li",
"Yue Wang",
"Rong Xiong",
"Yichao Mao",
"Jiafan Zhang",
"Yuwei Liang",
"Weijie Li",
"Yue Wang",
"Rong Xiong",
"Yichao Mao",
"Jiafan Zhang"
] | We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions. This paper addresses the problem of transferring complex dual-arm sign language motions characterized by the coordination among arms and hands from human to robot, which is seldom considered in previous studies of motion retargeting techniques. In this paper, we propos... |
SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure | https://ieeexplore.ieee.org/document/9560884/ | [
"Lin Li",
"Xin Kong",
"Xiangrui Zhao",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang",
"Yong Liu",
"Lin Li",
"Xin Kong",
"Xiangrui Zhao",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang",
"Yong Liu"
] | LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained conveniently and steadily, essential for high-level intelligence and conductive to SLAM. In this paper, we present a novel semantic-aided LiDAR SLAM with loop closu... |
An On-Line POMDP Solver for Continuous Observation Spaces | https://ieeexplore.ieee.org/document/9560943/ | [
"Marcus Hoerger",
"Hanna Kurniawati",
"Marcus Hoerger",
"Hanna Kurniawati"
] | Planning under partial obervability is essential for autonomous robots. A principled way to address such planning problems is the Partially Observable Markov Decision Process (POMDP). Although solving POMDPs is computationally intractable, substantial advancements have been achieved in developing approximate POMDP solvers in the past two decades. However, computing robust solutions for problems wi... |
Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit | https://ieeexplore.ieee.org/document/9561950/ | [
"Hongyuan Ren",
"Takayuki Tanaka",
"Akihiko Murai",
"Hongyuan Ren",
"Takayuki Tanaka",
"Akihiko Murai"
] | Human running motion is a complex motion that not only based on the movement of legs but also needs the entire body to participate in. Therefore, we focused on the upper body, designed a trunk and pelvic rotation assist suit to apply an external force on the chest and pelvis for assisting the running motion, changing the energy flow between the upper and lower body to improve the running efficienc... |
Pneumatic actuation-based bidirectional modules with variable stiffness and closed-loop position control | https://ieeexplore.ieee.org/document/9561576/ | [
"Yaohui Chen",
"Hoam Chung",
"Bernard Chen",
"Ho Yi Ping",
"Yonghang Sun",
"Yaohui Chen",
"Hoam Chung",
"Bernard Chen",
"Ho Yi Ping",
"Yonghang Sun"
] | This paper extends our previous work on a pneumatic bending module and presents two more modules for rotational and translational motions. In these modules, antagonistic chambers enveloped by rigid shells are adopted to realize bidirectional actuation, and they are characterized by safe actuation, enhanced torque/force output, independent stiffness tuning, and real-time position control. Due to th... |
A Capturability-based Control Framework for the Underactuated Bipedal Walking | https://ieeexplore.ieee.org/document/9562090/ | [
"Haihui Yuan",
"Sumian Song",
"Ruilong Du",
"Shiqiang Zhu",
"Jason Gu",
"Mingguo Zhao",
"Jianxin Pang",
"Haihui Yuan",
"Sumian Song",
"Ruilong Du",
"Shiqiang Zhu",
"Jason Gu",
"Mingguo Zhao",
"Jianxin Pang"
] | This work considers the control of underactuated bipedal walking, and a novel capturability-based control framework is presented. Compared with traditional approaches, the presented control method does not rely on the use of the Poincaré map, which may take significant computational cost. Firstly, a new definition of stable walking is presented, and a novel foot-placement based control method is p... |
Appearance-based Loop Closure Detection via Bidirectional Manifold Representation Consensus | https://ieeexplore.ieee.org/document/9561704/ | [
"Kaining Zhang",
"Zizhuo Li",
"Jiayi Ma",
"Kaining Zhang",
"Zizhuo Li",
"Jiayi Ma"
] | Loop closure detection (LCD), which aims to deal with the drift emerging when robots travel around the route, plays a key role in a simultaneous localization and mapping system. Unlike most current methods which focus on seeking an appropriate representation of images, we propose a novel two-stage pipeline dominated by the estimation of spatial geometric relationship. When a query image occurs, we... |
Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots | https://ieeexplore.ieee.org/document/9561851/ | [
"Longchuan Li",
"Shugen Ma",
"Isao Tokuda",
"Fumihiko Asano",
"Makoto Nokata",
"Yang Tian",
"Liang Du",
"Longchuan Li",
"Shugen Ma",
"Isao Tokuda",
"Fumihiko Asano",
"Makoto Nokata",
"Yang Tian",
"Liang Du"
] | Biological observations on tetrapods locomotion deduce that anti-phase synchronization (APS) between fore and rear parts is beneficial for achieving a high-speed walking. On the other hand, theoretical analysis and experimental studies on quadruped robots suggest that a flexible spine potentially improves the gait efficiency and adaptability via smoothing the ground collisions. However, these two ... |
A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables | https://ieeexplore.ieee.org/document/9561970/ | [
"Jayden Chapman",
"Gal Gorjup",
"Anany Dwivedi",
"Saori Matsunaga",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis",
"Jayden Chapman",
"Gal Gorjup",
"Anany Dwivedi",
"Saori Matsunaga",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis"
] | Flexible flat cables (FFC) are very popular for connecting different components in modern electronics (e.g., mobile phones, laptops, tablets, etc.). The manipulation of FFCs typically relies on highly trained workers that spend hours performing the same repetitive processes, or on autonomous robotic systems that are equipped with simple clamping mechanisms or pneumatically driven suction cups. Suc... |
Stable, Sensor-less and Compliance-less Module Connection for Automated Construction System of a Modularized Rail Structure | https://ieeexplore.ieee.org/document/9561363/ | [
"Mari Yasuda",
"Rui Fukui",
"Shin’ichi Warisawa",
"Mari Yasuda",
"Rui Fukui",
"Shin’ichi Warisawa"
] | Unmanned robots have been proposed for the decommissioning of Fukushima Dai-ichi Nuclear Power Plant. To achieve efficient movement of robots in the high-radiation environment, we propose an “automated construction system of a modularized rail structure.” In the high-radiation environment, the rail structure must be constructed by a remotely controlled robot using minimal sensors. In addition, a c... |
Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers | https://ieeexplore.ieee.org/document/9562064/ | [
"Takuto Fujiki",
"Kenji Tahara",
"Takuto Fujiki",
"Kenji Tahara"
] | This paper proposes a novel force controller that serially combines admittance and impedance controllers. The proposed controller is adaptable to an unknown changeable environment in terms of stiffness, and it is able to achieve high control accuracy and stable operation. First, conventional admittance and impedance controllers are recalled, and based on them, a new force controller is designed. N... |
Kinematic Stability based AFG-RRT Path Planning for Cable-Driven Parallel Robots | https://ieeexplore.ieee.org/document/9560741/ | [
"Utkarsh A. Mishra",
"Marceau Métillon",
"Stéphane Caro",
"Utkarsh A. Mishra",
"Marceau Métillon",
"Stéphane Caro"
] | Motion planning for Cable-Driven Parallel Robots (CDPRs) is a challenging task due to various restrictions on cable tensions, collisions and obstacle avoidance. The presented work aims at proposing an optimal path planning strategy in order to both maximize the wrench capability and the dexterity of the robot in a cluttered environment. First, an asymptoticallyoptimal path finding method based on ... |
Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-robot Manipulation | https://ieeexplore.ieee.org/document/9561293/ | [
"Song Liu",
"Yuyu Jia",
"You-Fu Li",
"Yao Guo",
"Haojian Lu",
"Song Liu",
"Yuyu Jia",
"You-Fu Li",
"Yao Guo",
"Haojian Lu"
] | Simultaneous assembly of multiple objects is a key technology to form solid connections among objects to get compact structures in precision assembly and micro-assembly. Dramatically different from traditional assembly of two objects, the interaction among multiple objects is more complicated on analysis and control. During simultaneous assembly of multiple objects, there are multiple mutually eff... |
Dynamic Compensation in Throwing Motion with High-Speed Robot Hand-Arm | https://ieeexplore.ieee.org/document/9560866/ | [
"Akira Takahashi",
"Masaki Sato",
"Akio Namiki",
"Akira Takahashi",
"Masaki Sato",
"Akio Namiki"
] | In recent years, research and development have been carried out on manipulators equipped with multi-fingered robot hands as end-effectors to perform delicate and dexterous tasks. In high-speed movement of such multi-fingered hand-arms, the weight of the multi-fingered hands slows down the response of the arms. To solve this problem, we propose a control method in which a high-response hand is used... |
Signal Temporal Logic Synthesis as Probabilistic Inference | https://ieeexplore.ieee.org/document/9560929/ | [
"Ki Myung Brian Lee",
"Chanyeol Yoo",
"Robert Fitch",
"Ki Myung Brian Lee",
"Chanyeol Yoo",
"Robert Fitch"
] | We reformulate the signal temporal logic (STL) synthesis problem as a maximum a-posteriori (MAP) inference problem. To this end, we introduce the notion of random STL (RSTL), which extends deterministic STL with random predicates. This new probabilistic extension naturally leads to a synthesis-as-inference approach. The proposed method allows for differentiable, gradient-based synthesis while exte... |
Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points | https://ieeexplore.ieee.org/document/9561455/ | [
"Julian Blueml",
"Alessandro Fornasier",
"Stephan Weiss",
"Julian Blueml",
"Alessandro Fornasier",
"Stephan Weiss"
] | For Ultra-Wide-Band (UWB) based navigation, an accurate initialization of the anchors in a reference coordinate system is crucial for precise subsequent UWB-inertial based pose estimation. This paper presents a strategy based on information theory to initialize such UWB anchors using raw distance measurements from tag to anchor(s) and aerial vehicle poses. We include a linear distance-dependent bi... |
Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression | https://ieeexplore.ieee.org/document/9562039/ | [
"Xu Liu",
"Decai Li",
"Yuqing He",
"Xu Liu",
"Decai Li",
"Yuqing He"
] | To address the problem of building accurate and coherent models for large-scale terrains from incomplete and noisy sensor data, this paper proposes a novel framework that can efficiently infer terrain structures by divisionally providing the best linear unbiased estimates for the elevation values. To avoid data ambiguity caused by the uncertainty of sensor data, the proposed method introduces elev... |
MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments | https://ieeexplore.ieee.org/document/9561471/ | [
"Zhenyu Wu",
"Yufeng Yue",
"Mingxing Wen",
"Jun Zhang",
"Guohao Peng",
"Danwei Wang",
"Zhenyu Wu",
"Yufeng Yue",
"Mingxing Wen",
"Jun Zhang",
"Guohao Peng",
"Danwei Wang"
] | Symmetric environment is one of the most intractable and challenging scenarios for mobile robots to accomplish global localization tasks, due to the highly similar geometrical structures and insufficient distinctive features. Existing localization solutions in such scenarios either depend on pre-deployed infrastructures which are expensive, inflexible, and hard to maintain; or rely on single senso... |
Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios | https://ieeexplore.ieee.org/document/9561344/ | [
"Yuanfu Luo",
"Malika Meghjani",
"Qi Heng Ho",
"David Hsu",
"Daniela Rus",
"Yuanfu Luo",
"Malika Meghjani",
"Qi Heng Ho",
"David Hsu",
"Daniela Rus"
] | Autonomous urban driving among human-driven cars requires a holistic understanding of road rules, driver intents and driving styles. This is challenging as a short-term, single instance, driver intent of lane change may not correspond to their driving styles for a longer duration. This paper presents an interactive behavior planner which accounts for road context, short-term driver intent, and lon... |
Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking | https://ieeexplore.ieee.org/document/9561501/ | [
"Youngjae Min",
"Do-Un Kim",
"Han-Lim Choi",
"Youngjae Min",
"Do-Un Kim",
"Han-Lim Choi"
] | Mapping three-dimensional (3-D) dynamic environments is essential for aerial robots but challenging to consider the increased dimensions in both space and time compared to 2-D static mapping. This paper presents a kernel-based 3-D dynamic occupancy mapping algorithm, K3DOM, that distinguishes between static and dynamic objects while estimating the velocities of dynamic cells via particle tracking.... |
AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy | https://ieeexplore.ieee.org/document/9560833/ | [
"Zhenjia Xu",
"Beichun Qi",
"Shubham Agrawal",
"Shuran Song",
"Zhenjia Xu",
"Beichun Qi",
"Shubham Agrawal",
"Shuran Song"
] | This paper aims to improve robots’ versatility and adaptability by allowing them to use a large variety of end- effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes to novel grippers. By training on a large collection of grippers, our algorithm is able to acquire generalizable knowledge of how different grippers should be u... |
TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly | https://ieeexplore.ieee.org/document/9561081/ | [
"Kazutoshi Tanaka",
"Ryo Yonetani",
"Masashi Hamaya",
"Robert Lee",
"Felix von Drigalski",
"Yoshihisa Ijiri",
"Kazutoshi Tanaka",
"Ryo Yonetani",
"Masashi Hamaya",
"Robert Lee",
"Felix von Drigalski",
"Yoshihisa Ijiri"
] | Practical industrial assembly scenarios often require robotic agents to adapt their skills to unseen tasks quickly. While transfer reinforcement learning (RL) could enable such quick adaptation, much prior work has to collect many samples from source environments to learn target tasks in a model-free fashion, which still lacks sample efficiency on a practical level. In this work, we develop a nove... |
Embedding Symbolic Temporal Knowledge into Deep Sequential Models | https://ieeexplore.ieee.org/document/9561952/ | [
"Yaqi Xie",
"Fan Zhou",
"Harold Soh",
"Yaqi Xie",
"Fan Zhou",
"Harold Soh"
] | Sequences and time-series often arise in robot tasks, e.g., in activity recognition and imitation learning. In recent years, deep neural networks (DNNs) have emerged as an effective data-driven methodology for processing sequences given sufficient training data and compute resources. However, when data is limited, simpler models such as logic/rule-based methods work surprisingly well, especially w... |
Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9561187/ | [
"Kaiqi Chen",
"Yong Lee",
"Harold Soh",
"Kaiqi Chen",
"Yong Lee",
"Harold Soh"
] | This work focuses on learning useful and robust deep world models using multiple, possibly unreliable, sensors. We find that current methods do not sufficiently encourage a shared representation between modalities; this can cause poor performance on downstream tasks and over-reliance on specific sensors. As a solution, we contribute a new multi-modal deep latent state-space model, trained using a ... |
Linguistic Descriptions of Human Motion with Generative Adversarial Seq2Seq Learning | https://ieeexplore.ieee.org/document/9561519/ | [
"Yusuke Goutsu",
"Tetsunari Inamura",
"Yusuke Goutsu",
"Tetsunari Inamura"
] | In this paper, we propose a generative model that learns a sequence-to-sequence (Seq2Seq) translation between human whole-body motions and linguistic descriptions by natural language. Our model merges the Seq2Seq model with the training strategy of sequence generative adversarial nets (SeqGAN), which extends a GAN framework to solve the problem that the gradient cannot pass back to the generator n... |
Evolvable Motion-planning Method using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9561602/ | [
"Kaichiro Nishi",
"Nobuaki Nakasu",
"Kaichiro Nishi",
"Nobuaki Nakasu"
] | A motion-planning method that can adapt to changes in the surrounding environment is proposed and evaluated. Automation of work is progressing in factories and distribution warehouses due to labor shortages. However, utilizing robots for transport operations in a distribution warehouse faces a problem; that is, tasks for setting up a robot, such as adjustment of acceleration for stabilization of t... |
Learning Sequences of Manipulation Primitives for Robotic Assembly | https://ieeexplore.ieee.org/document/9561029/ | [
"Nghia Vuong",
"Hung Pham",
"Quang-Cuong Pham",
"Nghia Vuong",
"Hung Pham",
"Quang-Cuong Pham"
] | This paper explores the idea that skillful assembly is best represented as dynamic sequences of Manipulation Primitives, and that such sequences can be automatically discovered by Reinforcement Learning. Manipulation Primitives, such as "Move down until contact", "Slide along x while maintaining contact with the surface", have enough complexity to keep the search tree shallow, yet are generic enou... |
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments | https://ieeexplore.ieee.org/document/9561902/ | [
"Xin Zhou",
"Jiangchao Zhu",
"Hongyu Zhou",
"Chao Xu",
"Fei Gao",
"Xin Zhou",
"Jiangchao Zhu",
"Hongyu Zhou",
"Chao Xu",
"Fei Gao"
] | This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local planning framework, where collision avoidance is achieved by formulating the collision risk as a penalty of a nonlinear optimization problem. In order to improve ro... |
Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion | https://ieeexplore.ieee.org/document/9561534/ | [
"Joonhee Jo",
"Gyunghoon Park",
"Yonghwan Oh",
"Joonhee Jo",
"Gyunghoon Park",
"Yonghwan Oh"
] | This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-contact reference for swing foot with which the pose of the foot is stabilized on the obstacle. This can be achieved by walking with heel strike motion (... |
State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks | https://ieeexplore.ieee.org/document/9560948/ | [
"Yangwei You",
"Samuel Cheong",
"Tai Pang Chen",
"Yuda Chen",
"Kun Zhang",
"Cihan Acar",
"Fon Lin Lai",
"Albertus Hendrawan Adiwahono",
"Keng Peng Tee",
"Yangwei You",
"Samuel Cheong",
"Tai Pang Chen",
"Yuda Chen",
"Kun Zhang",
"Cihan Acar",
"Fon Lin Lai",
"Albertus Hendrawan Adiwahono",
"Keng Peng Tee"
] | This paper introduces a general state estimation framework fusing multiple sensor information for hybrid wheeled-legged robots performing mobile manipulation tasks. At the core of the state estimator is a novel unified odometry for hybrid locomotion which can seamlessly maintain tracking and has no need to switch between stepping and rolling modes. To the best of our knowledge, the proposed odomet... |
Adversarial Skill Learning for Robust Manipulation | https://ieeexplore.ieee.org/document/9561379/ | [
"Pingcheng Jian",
"Chao Yang",
"Di Guo",
"Huaping Liu",
"Fuchun Sun",
"Pingcheng Jian",
"Chao Yang",
"Di Guo",
"Huaping Liu",
"Fuchun Sun"
] | Deep reinforcement learning has made significant progress in robotic manipulation tasks and it works well in the ideal disturbance-free environment. However, in a real-world environment, both internal and external disturbances are inevitable, thus the performance of the trained policy will dramatically drop. To improve the robustness of the policy, we introduce the adversarial training mechanism t... |
Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures | https://ieeexplore.ieee.org/document/9561737/ | [
"Hengyue Liang",
"Xibai Lou",
"Yang Yang",
"Changhyun Choi",
"Hengyue Liang",
"Xibai Lou",
"Yang Yang",
"Changhyun Choi"
] | This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment fixtures (e.g., walls, furniture, heavy objects). This Slide-to-Wall grasping task assumes no prior knowledge except the partial observation of a target object... |
Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification | https://ieeexplore.ieee.org/document/9562114/ | [
"Gal Gorjup",
"Lucas Gerez",
"Minas Liarokapis",
"Gal Gorjup",
"Lucas Gerez",
"Minas Liarokapis"
] | Robot grasping and manipulation planning in unstructured and dynamic environments is heavily dependent on the attributes of manipulated objects. Although deep learning approaches have delivered exceptional performance in robot perception, human perception and reasoning are still superior in processing novel object classes. Moreover, training such models requires large datasets that are generally e... |
Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition | https://ieeexplore.ieee.org/document/9561114/ | [
"Minas Liarokapis",
"George P. Kontoudis",
"Minas Liarokapis",
"George P. Kontoudis"
] | Lecturers of Engineering courses around the world are struggling to increase the engagement of students through the introduction of appropriate hands-on activities and assignments. In Biomechatronics and Robotics courses these assignments typically focus on how certain devices are designed, modelled, fabricated, or controlled. The hardware for these assignments is usually purchased by some externa... |
Model based evaluation of human and lower-limb exoskeleton interaction during sit to stand motion | https://ieeexplore.ieee.org/document/9561727/ | [
"Joel Bottin-Noonan",
"Manish Sreenivasa",
"Joel Bottin-Noonan",
"Manish Sreenivasa"
] | The interaction between an exoskeleton and its human user is complex, and needs to conform to various requirements related to safety, comfort and adaptability. It is however impractical to test a large number of prototype variations against a large number of user variations, especially in the initial design and testing phases. Model based methods can help at this design stage by providing a virtua... |
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems | https://ieeexplore.ieee.org/document/9561109/ | [
"Sotaro Katayama",
"Toshiyuki Ohtsuka",
"Sotaro Katayama",
"Toshiyuki Ohtsuka"
] | We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, including the state, acceleration, and control input torques, as optimization variables and treat the inverse dynamics as an equality constraint. We eliminate the update of the control input torques from the linear equatio... |
Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank | https://ieeexplore.ieee.org/document/9561153/ | [
"Jeongsu Park",
"Daeho Lee",
"Kyeong-Won Park",
"Kyoungchul Kong",
"Jeongsu Park",
"Daeho Lee",
"Kyeong-Won Park",
"Kyoungchul Kong"
] | Powered exoskeletons for people with paraplegia are subjected to repetitive and large impacts due to the repeated ground contacts. The repetitive impact forces not only deteriorate the wear comfort but also cause a serious damage to the muscles and bones of the human wearing the powered exoskeleton. To address this issue, a novel shock absorption mechanism for powered exoskeletons that can reduce ... |
FlowDriveNet: An End-to-End Network for Learning Driving Policies from Image Optical Flow and LiDAR Point Flow | https://ieeexplore.ieee.org/document/9560820/ | [
"Shuai Wang",
"Jiahu Qin",
"Menglin Li",
"Yaonan Wang",
"Shuai Wang",
"Jiahu Qin",
"Menglin Li",
"Yaonan Wang"
] | Learning driving policies using an end-to-end network has been proved a promising solution for autonomous driving. Due to the lack of a benchmark driver behavior dataset that contains both the visual and the LiDAR data, existing works solely focus on learning driving from visual sensors. Besides, most works are limited to predict steering angle yet neglect the more challenging vehicle speed contro... |
PocoNet: SLAM-oriented 3D LiDAR Point Cloud Online Compression Network | https://ieeexplore.ieee.org/document/9561309/ | [
"Jinhao Cui",
"Hao Zou",
"Xin Kong",
"Xuemeng Yang",
"Xiangrui Zhao",
"Yong Liu",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang",
"Jinhao Cui",
"Hao Zou",
"Xin Kong",
"Xuemeng Yang",
"Xiangrui Zhao",
"Yong Liu",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang"
] | In this paper, we present PocoNet: Point cloud Online COmpression NETwork to address the task of SLAM-oriented compression. The aim of this task is to select a compact subset of points with high priority to maintain localization accuracy. The key insight is that points with high priority have similar geometric features in SLAM scenarios. Hence, we tackle this task as point cloud segmentation to ca... |
3D Reconstruction of Deformable Colon Structures based on Preoperative Model and Deep Neural Network | https://ieeexplore.ieee.org/document/9561772/ | [
"Shuai Zhang",
"Liang Zhao",
"Shoudong Huang",
"Ruibin Ma",
"Boni Hu",
"Qi Hao",
"Shuai Zhang",
"Liang Zhao",
"Shoudong Huang",
"Ruibin Ma",
"Boni Hu",
"Qi Hao"
] | In colonoscopy procedures, it is important to rebuild and visualize the colonic surface to minimize the missing regions and reinspect for abnormalities. Due to the fast camera motion and deformation of the colon in standard forward-viewing colonoscopies, traditional simultaneous localization and mapping (SLAM) systems work poorly for 3D reconstruction of colon surfaces and are prone to severe drif... |
An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors | https://ieeexplore.ieee.org/document/9560805/ | [
"Xiaolong Xu",
"Yujie Sun",
"Xincheng Tian",
"Lelai Zhou",
"Yibin Li",
"Xiaolong Xu",
"Yujie Sun",
"Xincheng Tian",
"Lelai Zhou",
"Yibin Li"
] | This paper focuses on developing a real-time and flexible velocity estimation approach for serial revolute manipulator using only one inertial measurement unit (IMU) mounted on each link side of the manipulator. Particularly, the proposed approach has no requirement for the installation position and orientation of the IMU, which improves the flexibility of the implementation procedure. A joint vel... |
D-ACC: Dynamic Adaptive Cruise Control for Highways with Ramps Based on Deep Q-Learning | https://ieeexplore.ieee.org/document/9561021/ | [
"Lokesh Das",
"Myounggyu Won",
"Lokesh Das",
"Myounggyu Won"
] | An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of ACC can improve the traffic flow through the adaptation of the headway distance in response to the current traffic conditions. In this paper, we demonstrate that... |
Precise Multi-Modal In-Hand Pose Estimation using Low-Precision Sensors for Robotic Assembly | https://ieeexplore.ieee.org/document/9561222/ | [
"Felix von Drigalski",
"Kennosuke Hayashi",
"Yifei Huang",
"Ryo Yonetani",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Yoshihisa Ijiri",
"Felix von Drigalski",
"Kennosuke Hayashi",
"Yifei Huang",
"Ryo Yonetani",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Yoshihisa Ijiri"
] | In industrial assembly tasks, the in-hand pose of grasped objects needs to be known with high precision for subsequent manipulation tasks such as insertion. This problem (in-hand-pose estimation) has traditionally been addressed using visual recognition or tactile sensing. On the one hand, while visual recognition can provide efficient pose estimates, it tends to suffer from low precision due to n... |
Assembly Sequences Based on Multiple Criteria Against Products with Deformable Parts | https://ieeexplore.ieee.org/document/9561925/ | [
"Takuya Kiyokawa",
"Jun Takamatsu",
"Tsukasa Ogasawara",
"Takuya Kiyokawa",
"Jun Takamatsu",
"Tsukasa Ogasawara"
] | To generate assembly sequences that robots can easily handle, this study tackled assembly sequence generation (ASG) by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of the constraints affecting the assembled parts. We propose a multi-objective genetic algorithm to balance these two objectives. Furthermore, we extend our previously proposed 3D computer-aided design (... |
Distributed Dynamic Map Fusion via Federated Learning for Intelligent Networked Vehicles | https://ieeexplore.ieee.org/document/9561612/ | [
"Zijian Zhang",
"Shuai Wang",
"Yuncong Hong",
"Liangkai Zhou",
"Qi Hao",
"Zijian Zhang",
"Shuai Wang",
"Yuncong Hong",
"Liangkai Zhou",
"Qi Hao"
] | The technology of dynamic map fusion among networked vehicles has been developed to enlarge sensing ranges and improve sensing accuracies for individual vehicles. This paper proposes a federated learning (FL) based dynamic map fusion framework to achieve high map quality despite unknown numbers of objects in fields of view (FoVs), various sensing and model uncertainties, and missing data labels fo... |
Underwater Stability of a Morphable Aerial-Aquatic Quadrotor With Variable Thruster Angles | https://ieeexplore.ieee.org/document/9562032/ | [
"Yu Herng Tan",
"Ben M. Chen",
"Yu Herng Tan",
"Ben M. Chen"
] | The design of aerial-aquatic multirotors can benefit from thruster rotation so that the thrusters can act directly in the lateral directions of surge and sway when submerged. This allows much more effective locomotion underwater as opposed to the aerial configuration where rotational acceleration is used to direct small components of thrust in the lateral directions. However, the introduction of l... |
Development of Flapping Robot with Self-Takeoff from The Ground Capability | https://ieeexplore.ieee.org/document/9561656/ | [
"Muhammad Labiyb Afakh",
"Terukazu Sato",
"Hidaka Sato",
"Naoyuki Takesue",
"Muhammad Labiyb Afakh",
"Terukazu Sato",
"Hidaka Sato",
"Naoyuki Takesue"
] | Birds are agile in locomotion and able to move quickly and easily from one place to another. When a bird is on the ground, and a threat approaches, the bird will fly away and escape. An ornithopter robot provides advantages in energy saving, maneuverability, and crash safety. Most flapping robots require an operator or assistance to take off. The goal of this study is to enable self-takeoff from t... |
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments | https://ieeexplore.ieee.org/document/9561948/ | [
"Zhichao Han",
"Ruibin Zhang",
"Neng Pan",
"Chao Xu",
"Fei Gao",
"Zhichao Han",
"Ruibin Zhang",
"Neng Pan",
"Chao Xu",
"Fei Gao"
] | This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. It properly handles the challenging situations where the intent of the target and the dense environments are unknown. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target ... |
NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments | https://ieeexplore.ieee.org/document/9560951/ | [
"Daniel Dugas",
"Juan Nieto",
"Roland Siegwart",
"Jen Jen Chung",
"Daniel Dugas",
"Juan Nieto",
"Roland Siegwart",
"Jen Jen Chung"
] | Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available implementations. This makes comparing methods a challenge. Recent research has shown that unsupervised learning methods can scale impressively, and be leveraged to solve di... |
High-Speed Planning in Unknown Environments for Multirotors Considering Drag | https://ieeexplore.ieee.org/document/9560773/ | [
"Charbel Toumieh",
"Alain Lambert",
"Charbel Toumieh",
"Alain Lambert"
] | In this paper, we propose a new planning scheme for high-speed flight in an unknown environment while taking into account drag forces. Drag forces become non-negligible at high speeds and may lead to unfeasible trajectories. The method leverages a new Mixed-Integer Quadratic Program/Model Predictive Control formulation that allows to easily account for drag forces. This formulation makes use of a ... |
Visual Servoing of Cable-Driven Parallel Robots with Tension Management | https://ieeexplore.ieee.org/document/9561236/ | [
"Zane Zake",
"François Chaumette",
"Nicolò Pedemonte",
"Stéphane Caro",
"Zane Zake",
"François Chaumette",
"Nicolò Pedemonte",
"Stéphane Caro"
] | Cable-driven parallel robots (CDPRs) are a type of parallel robots, where cables are used instead of rigid links. This leads to many advantages, such as large workspace, low mass in motion and simple reconfiguration. The drawbacks are accuracy issues and complex cable management. Indeed, it is usual that cables become slack. That can be caused by, for example, cable mass, uncertainties in the syst... |
Automated design of underactuated monolithic soft robotics structures with multiple predefined end poses | https://ieeexplore.ieee.org/document/9561485/ | [
"Simon Schiele",
"Henry Phalen",
"Julian Kulozik",
"Yannick S. Krieger",
"Tim C. Lueth",
"Simon Schiele",
"Henry Phalen",
"Julian Kulozik",
"Yannick S. Krieger",
"Tim C. Lueth"
] | The increasing frequency of robot interactions with humans and complex environments motivates the design and control of soft robotic systems made of compliant structures. Additive manufacturing processes enable the creation of new robotic systems and mechanisms that gain their compliance extrinsically through their design, rather than simply their material. With the ability to rapidly and affordab... |
Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation | https://ieeexplore.ieee.org/document/9561046/ | [
"Sunny Katyara",
"Fanny Ficuciello",
"Fei Chen",
"Bruno Siciliano",
"Darwin G. Caldwell",
"Sunny Katyara",
"Fanny Ficuciello",
"Fei Chen",
"Bruno Siciliano",
"Darwin G. Caldwell"
] | Humans in contrast to robots are excellent in performing fine manipulation tasks owing to their remarkable dexterity and sensorimotor organization. Enabling robots to acquire such capabilities, necessitates a framework that not only replicates the human behaviour but also integrates the multi-sensory information for autonomous object interaction. To address such limitations, this research proposes... |
Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints | https://ieeexplore.ieee.org/document/9560889/ | [
"Raphael Grimm",
"Markus Grotz",
"Simon Ottenhaus",
"Tamim Asfour",
"Raphael Grimm",
"Markus Grotz",
"Simon Ottenhaus",
"Tamim Asfour"
] | Increasing the robustness of grasping actions and the recovery from failure is key to improving a robot’s autonomy. Endowing robots with the ability to robustly grasp and manipulate unknown difficult objects such as stones is required for sample collection in unknown environments. In this paper, we present a complete system for robust grasping of stones, which integrates stone segmentation based o... |
Friction Estimation for Tendon-Driven Robotic Hands | https://ieeexplore.ieee.org/document/9560964/ | [
"Friedrich Lange",
"Martin Pfanne",
"Franz Steinmetz",
"Sebastian Wolf",
"Freek Stulp",
"Friedrich Lange",
"Martin Pfanne",
"Franz Steinmetz",
"Sebastian Wolf",
"Freek Stulp"
] | In tendon-driven robotic hands, tendons are usually routed along several pulleys. The resulting friction is often substantial, and must therefore be modelled and estimated, for instance for accurate control and contact detection. Common approaches for friction estimation consider special dedicated setups, where the parameters of a static or dynamic friction model at a single contact point are dete... |
Representation Matters: Improving Perception and Exploration for Robotics | https://ieeexplore.ieee.org/document/9560733/ | [
"Markus Wulfmeier",
"Arunkumar Byravan",
"Tim Hertweck",
"Irina Higgins",
"Ankush Gupta",
"Tejas Kulkarni",
"Malcolm Reynolds",
"Denis Teplyashin",
"Roland Hafner",
"Thomas Lampe",
"Martin Riedmiller",
"Markus Wulfmeier",
"Arunkumar Byravan",
"Tim Hertweck",
"Irina Higgins",
"Ankush Gupta",
"Tejas Kulkarni",
"Malcolm Reynolds",
"Denis Teplyashin",
"Roland Hafner",
"Thomas Lampe",
"Martin Riedmiller"
] | Projecting high-dimensional environment observations into lower-dimensional structured representations can considerably improve data-efficiency for reinforcement learning in domains with limited data such as robotics. Can a single generally useful representation be found? In order to answer this question, it is important to understand how the representation will be used by the agent and what prope... |
Global Aerial Localisation Using Image and Map Embeddings | https://ieeexplore.ieee.org/document/9562005/ | [
"Noe Samano",
"Mengjie Zhou",
"Andrew Calway",
"Noe Samano",
"Mengjie Zhou",
"Andrew Calway"
] | We present a purely vision based geolocation method for aircraft flying over urban and suburban environments. The method is based on matching aerial images with geolocated map tiles using a shared low dimensional embedded space of descriptors. The Euclidean distance between descriptors is used as a similarity measure between domains. The similarity between the observation and map locations is then... |
UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation | https://ieeexplore.ieee.org/document/9562031/ | [
"Daniele Fontanelli",
"Farhad Shamsfakhr",
"Paolo Bevilacqua",
"Luigi Palopoli",
"Daniele Fontanelli",
"Farhad Shamsfakhr",
"Paolo Bevilacqua",
"Luigi Palopoli"
] | The problem addressed in this paper is the localisation of a mobile robot using a combination of on-board sensors and Ultra-Wideband (UWB) beacons. Specifically, we consider a scenario in which a mobile robot travels across an area infrastructured with a small number of UWB anchors. The presence of obstacles in the environment introduces an offset in the measurements of the distance between the ro... |
Range Image-based LiDAR Localization for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9561335/ | [
"Xieyuanli Chen",
"Ignacio Vizzo",
"Thomas Läbe",
"Jens Behley",
"Cyrill Stachniss",
"Xieyuanli Chen",
"Ignacio Vizzo",
"Thomas Läbe",
"Jens Behley",
"Cyrill Stachniss"
] | Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a large-scale outdoor environment represented by a triangular mesh. We use the Poisson surface reconstruction to generate the mesh-based map representation. Based ... |
RadarLoc: Learning to Relocalize in FMCW Radar | https://ieeexplore.ieee.org/document/9560858/ | [
"Wei Wang",
"Pedro P. B. de Gusmão",
"Bo Yang",
"Andrew Markham",
"Niki Trigoni",
"Wei Wang",
"Pedro P. B. de Gusmão",
"Bo Yang",
"Andrew Markham",
"Niki Trigoni"
] | Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have not yet been applied to the radar sensory data. In this work, we investigate how to exploit deep learning to predict global poses from Emerging Frequency-Modulat... |
MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization | https://ieeexplore.ieee.org/document/9561820/ | [
"Lorenzo Bertoni",
"Sven Kreiss",
"Taylor Mordan",
"Alexandre Alahi",
"Lorenzo Bertoni",
"Sven Kreiss",
"Taylor Mordan",
"Alexandre Alahi"
] | Monocular and stereo visions are cost-effective solutions for 3D human localization in the context of self-driving cars or social robots. However, they are usually developed independently and have their respective strengths and limitations. We propose a novel unified learning framework that leverages the strengths of both monocular and stereo cues for 3D human localization. Our method jointly (i) ... |
Enabling spatio-temporal aggregation in Birds-Eye-View Vehicle Estimation | https://ieeexplore.ieee.org/document/9561169/ | [
"Avishkar Saha",
"Oscar Mendez",
"Chris Russell",
"Richard Bowden",
"Avishkar Saha",
"Oscar Mendez",
"Chris Russell",
"Richard Bowden"
] | Constructing Birds-Eye-View (BEV) maps from monocular images is typically a complex multi-stage process involving the separate vision tasks of ground plane estimation, road segmentation and 3D object detection. However, recent approaches have adopted end-to-end solutions which warp image-based features from the image-plane to BEV while implicitly taking account of camera geometry. In this work, we... |
Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation | https://ieeexplore.ieee.org/document/9561441/ | [
"Hemang Chawla",
"Arnav Varma",
"Elahe Arani",
"Bahram Zonooz",
"Hemang Chawla",
"Arnav Varma",
"Elahe Arani",
"Bahram Zonooz"
] | Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously copresent global positioning systems (GPS), we tackle this challenge by proposing a dynamically-weighted GPS-to-Scale (g2s) loss to complement the appearance-base... |
There and Back Again: Self-supervised Multispectral Correspondence Estimation | https://ieeexplore.ieee.org/document/9561621/ | [
"Celyn Walters",
"Oscar Mendez",
"Mark Johnson",
"Richard Bowden",
"Celyn Walters",
"Oscar Mendez",
"Mark Johnson",
"Richard Bowden"
] | Across a wide range of applications, from autonomous vehicles to medical imaging, multi-spectral images provide an opportunity to extract additional information not present in color images. One of the most important steps in making this information readily available is the accurate estimation of dense correspondences between different spectra.Due to the nature of cross-spectral images, most corres... |
Learning Conditional Postural Synergies for Dexterous Hands: A Generative Approach Based on Variational Auto-Encoders and Conditioned on Object Size and Category | https://ieeexplore.ieee.org/document/9560818/ | [
"Dimitrios Dimou",
"José Santos-Victor",
"Plinio Moreno",
"Dimitrios Dimou",
"José Santos-Victor",
"Plinio Moreno"
] | Postural synergies are used in robotics to facilitate the control of dexterous artificial hands. This is achieved by learning a latent space (synergy space) from grasp postures and directly controlling the hand in this space. In this work, we propose the use of a non-linear conditional model for learning the latent space, that can incorporate the object shape and size as additional variables. Whil... |
Subsets and Splits