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IEEE Robotics and Automation Society Information
Year: 2024 | Volume: 9 | Issue: 2
9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation
Publication Year: 2024,Page(s):923 - 930
Cited by: Papers (13)
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful execution. In this work, we present 9DTact, a straightforward yet versatile tactile sensor that offers 3D shape reconstruction and 6D force estimation capabilities. Co...Show More
Sampling-Based Reactive Synthesis for Nondeterministic Hybrid Systems
Publication Year: 2024,Page(s):931 - 938
This letter introduces a sampling-based strategy synthesis algorithm for nondeterministic hybrid systems with complex continuous dynamics under temporal and reachability constraints. We model the evolution of the hybrid system as a two-player game, where the nondeterminism is an adversarial player whose objective is to prevent achieving temporal and reachability goals. The aim is to synthesize a w...Show More
Control and Implementation of a Fluidic Elastomer Actuator for Active Suppression of Hand Tremor
Publication Year: 2024,Page(s):939 - 946
Cited by: Papers (1)
Active exoskeletons for tremor suppression show potential for treatment of pathological tremor thanks to their non-invasive nature. However, the active force was only used for the voluntary movement following. As a potential alternative, fluidic elastomer actuators (FEAs) possess compliance and flexibility that is important for wearable devices. In this letter, we introduce the control implementat...Show More
Design and Validation of Soft Sliding Structure With Adjustable Stiffness for Ankle Sprain Prevention
Seoyeon Ham;Soe Lin Paing;Brian Byunghyun Kang;Hyunglae Lee;Wansoo Kim
Publication Year: 2024,Page(s):947 - 954
Cited by: Papers (1)
This study presents the design and validation of a soft sliding stiffness structure with a soft-rigid layer sliding mechanism. It aims to mitigate ankle sprains and address the progression of chronic ankle instability by providing stiffness support. The soft-rigid layer sliding mechanism of the structure is designed to achieve a wide range of stiffness while maintaining a compact form factor. The ...Show More
Implicit Learning of Scene Geometry From Poses for Global Localization
Mohammad Altillawi;Shile Li;Sai Manoj Prakhya;Ziyuan Liu;Joan Serrat
Publication Year: 2024,Page(s):955 - 962
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by latest advances in deep learning, many existing approaches directly learn and regress 6 DoF pose from an input image. However, these methods do not fully utilize the...Show More
PoSE: Suppressing Perceptual Noise in Embodied Agents for Enhanced Semantic Navigation
Publication Year: 2024,Page(s):963 - 970
Embodied agents navigating unknown environments face the challenge of optimizing exploration based on semantic information. Conventional methods, reliant on collected data or pre-defined rules, have limitations in scalability and applicability, while pretrained language models based methods focusing on textual modality encounter perceptual noise, which affects decision-making. To mitigate these pr...Show More
Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit
Nural Yilmaz;Brendan Burkhart;Anton Deguet;Peter Kazanzides;Ugur Tumerdem
Publication Year: 2024,Page(s):971 - 978
Cited by: Papers (6)
The da Vinci surgical robot introduced remote control of instruments, providing surgeons with increased dexterity and precision. A major drawback, however, is the loss of sense of touch due to a lack of kinesthetic coupling between the surgical field and the surgeon. This paper presents a framework for sensorless transparency optimized four channel teleoperation. It is sensorless because forces ar...Show More
Delicate Jamming Grasp: Detecting Deformation of Fragile Objects Using Permanent Magnet Elastomer Membrane
Ho Enomoto;Matthew Ishige;Takuya Umedachi;Mitsuhiro Kamezaki;Yoshihiro Kawahara
Publication Year: 2024,Page(s):979 - 986
Cited by: Papers (2)
Jamming grippers can grasp objects of various shapes with simple control. However, grasping fragile objects is challenging, as a secure grasp requires firm pressing, which can potentially damage delicate objects. Thus, it is important to achieve an appropriate pressing distance for damage-free grasping. Consequently, the detection of the deformation of objects during grasping is required. In this ...Show More
Interactive Joint Planning for Autonomous Vehicles
Publication Year: 2024,Page(s):987 - 994
Cited by: Papers (8)
In highly interactive driving scenarios, the actions of one agent greatly influence those of its neighbors. Planning safe motions for autonomous vehicles (AVs) in such interactive environments, therefore, requires reasoning about the impact of the ego's intended motion plan on nearby agents' behavior. Deep-learning-based models have recently achieved considerable success in trajectory prediction a...Show More
Learning-Based Efficient Phase- Amplitude Modulation and Hybrid Control for MRI-Guided Focused Ultrasound Treatment
Jing Dai;Bohao Zhu;Xiaomei Wang;Zhiyi Jiang;Mengjie Wu;Liyuan Liang;Xiaochen Xie;James Lam;Hing-Chiu Chang;Ka-Wai Kwok
Publication Year: 2024,Page(s):995 - 1002
Cited by: Papers (1)
Magnetic resonance-guided focused ultrasound (MRg-FUS) has become attractive, accredited to its non-invasive nature. However, ultrasound beams focusing and steering is still challenging owing to aberrations induced by soft tissue heterogeneity. In particular for beam motion control to ensure real-time and precise tracking in the deep-seated region over abdominal organs, while considering full-wave...Show More
Event-and Frame-Based Visual-Inertial Odometry With Adaptive Filtering Based on 8-DOF Warping Uncertainty
Publication Year: 2024,Page(s):1003 - 1010
Cited by: Papers (3)
In this letter, we present an event- and frame-based visual-inertial odometry (VIO) algorithm that fuses frames, events, and inertial measurement in a robust and adaptive manner. Frames from standard cameras provide rich context of the scene at a fixed rate. Event cameras on the other hand asynchronously produce events at a pixel-level when changes in intensity occur, and thus are resilient to mot...Show More
Generating and Transferring Priors for Causal Bayesian Network Parameter Estimation in Robotic Tasks
Publication Year: 2024,Page(s):1011 - 1018
Robots acting in human environments will often face new situations and can benefit from transferring prior experience. Priors could enable robots to handle new tasks zero-shot and help prevent failures, which can be particularly costly in real robot applications. Due to their interpretable nature, causal Bayesian Networks (CBN) are popular for modeling cause-effect relations between semantically m...Show More
Event-Triggered Image Moments Predictive Control for Tracking Evolving Features Using UAVs
Sotirios N. Aspragkathos;George C. Karras;Kostas J. Kyriakopoulos
Publication Year: 2024,Page(s):1019 - 1026
Cited by: Papers (5)
This paper presents a novel approach for tracking deformable contour targets using Unmanned Aerial Vehicles (UAVs). The proposed scheme combines image moments descriptor and Event-Triggered (ET) Nonlinear Model Predictive Control (NMPC) for efficient and accurate tracking. The deformable contour model allows adaptation to the evolving target's shape, while the proposed event-triggered scheme achie...Show More
Online Calibration Between Camera and LiDAR With Spatial-Temporal Photometric Consistency
Publication Year: 2024,Page(s):1027 - 1034
Cited by: Papers (1)
The fusion of 3D LiDAR and 2D camera data has gained popularity in the field of robotics in recent years. Extrinsic calibration is a critical issue in sensor data fusion. Poor calibration can lead to corrupt data and system failure. This letter introduces a method based on photometric consistency for detecting and recalibrating camera LiDAR miscalibrations in arbitrary environments, online and wit...Show More
Parameter Identifying Disturbance Rejection Control With Asymptotic Error Convergence
Publication Year: 2024,Page(s):1035 - 1042
Cited by: Papers (3)
In this letter, a new kind of adaptive controller for the problem of output feedback tracking is proposed on the basis of the Active Disturbance Rejection Control (ADRC) paradigm. The controller is synthesized for the systems linear in parameters by combining the classic ADRC algorithm with a recent Parameter Identifying Extended State Observer (PIESO) which employs a gradient adaptation law to ac...Show More
LiDAR-Based Online Control Barrier Function Synthesis for Safe Navigation in Unknown Environments
Shaghayegh Keyumarsi;Made Widhi Surya Atman;Azwirman Gusrialdi
Publication Year: 2024,Page(s):1043 - 1050
Cited by: Papers (2)
This letter presents a novel extension of the control barrier function (CBF) as the low-level safety controller for autonomous mobile robots navigating in unknown environments. The main challenges of implementing CBF in real-world situations arise from the absence of a model or the lack of an exact one for the environment. Additionally, online learning is needed for the robot to maneuver in an unk...Show More
Learning to Unfold Garment Effectively Into Oriented Direction
Publication Year: 2024,Page(s):1051 - 1058
Cited by: Papers (2)
In the real world, unfolding the garment to a specific plane direction and vertical facing can make the downstream task, i.e. folding, more convenient and effective. Then, we propose a policy that strategically selects action between the dynamic fling and quasi-static pick&place to effectively unfold any arbitrarily configured garment into two specific orientations with maximum coverage. In this w...Show More
CLARA: Classifying and Disambiguating User Commands for Reliable Interactive Robotic Agents
Jeongeun Park;Seungwon Lim;Joonhyung Lee;Sangbeom Park;Minsuk Chang;Youngjae Yu;Sungjoon Choi
Publication Year: 2024,Page(s):1059 - 1066
Cited by: Papers (2)
In this letter, we focus on inferring whether the given user command is clear, ambiguous, or infeasible in the context of interactive robotic agents utilizing large language models (LLMs). To tackle this problem, we first present an uncertainty estimation method for LLMs to classify whether the command is certain (i.e., clear) or not (i.e., ambiguous or infeasible). Once the command is classified ...Show More
Small Multi-Attitude Soft Amphibious Robot
Lvzhou Li;Jiawei Xu;Qingyue Li;Yaoyao Jiang;Xu Dong;Jianning Ding
Publication Year: 2024,Page(s):1067 - 1073
Small soft amphibious robots have the potential to be used in the exploration of underwater pipelines, surface defect detection of underwater equipment, and underwater biological observations. In this study, we developed a small electromagnetically driven soft amphibious robot with inchworm gait motion based on a monodomain liquid crystal elastomer$/$polyimide film strain-mismatched flexible actua...Show More
Small Multi-Attitude Soft Amphibious Robot
Lvzhou Li;Jiawei Xu;Qingyue Li;Yaoyao Jiang;Xu Dong;Jianning Ding
Year: 2024 | Volume: 9 | Issue: 2
Robotically Controlled Head Oscillations During Overground Walking: A Comparison of Elderly and Young Adults
Publication Year: 2024,Page(s):1074 - 1081
Cited by: Papers (1)
Head turns during walking have been used to assess balance, mobility, and vestibular function in both experimental and clinical applications. However, head turns in walking experiments have been limited to self-initiated head motions as opposed to controlled motions. The aim of this study is to evaluate the effects of controlled head turns enabled by a robotic neck brace in elderly and young adult...Show More
Self-Retractable Soft Growing Robots for Reliable and Fast Retraction While Preserving Their Inherent Advantages
Publication Year: 2024,Page(s):1082 - 1089
Cited by: Papers (1)
Soft growing robots have garnered significant research interest owing to their unique locomotion. However, real-world applications of these robots are limited by challenges in achieving reversible and repeatable operations, particularly when faced with buckling during retraction. Although a variety of retraction mechanisms have been developed, many necessitate the installation of extra rigid hardw...Show More
Attitude-Estimation-Free GNSS and IMU Integration
Publication Year: 2024,Page(s):1090 - 1097
Cited by: Papers (3)
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial measurement unit (IMU) integration methods have been proposed to improve the accuracy and availability of GNSS positioning. However, all these methods require the additi...Show More
Collaborative Planning for Catching and Transporting Objects in Unstructured Environments
Liuao Pei;Junxiao Lin;Zhichao Han;Lun Quan;Yanjun Cao;Chao Xu;Fei Gao
Publication Year: 2024,Page(s):1098 - 1105
Cited by: Papers (6)
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation. In this letter, we propose a trajectory planning method for a non-holonomic robotic team with collaboration in unstructured environments. For the adaptive state collaboration of a robot team ...Show More
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