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This paper addresses tactile object recognition, i.e. the identification of an object among a set of known objects, given tactile measurements. The solution of this problem can improve perception capabilities of autonomous robots and complement vision. Such a system is fundamental for the operation of autonomous robots that are often required to recognize objects while interacting with the environment...
This paper deals with the problem of 3D stereo estimation and eye-hand calibration in humanoid robots. We first show how to implement a complete 3D stereo vision pipeline, enabling online and real-time eye calibration. We then introduce a new formulation for the problem of eye-hand coordination. We developed a fully automated procedure that does not require human supervision. The end-effector of the...
One of the recurring challenges in humanoid robotics is the development of learning mechanisms to predict the effects of certain actions on objects. It is paramount to predict the functional properties of an object from “afar”, for example on a table, in a rack or a shelf, which would allow the robot to select beforehand and automatically an appropriate action (or sequence of actions) in order to...
We present the Dynamic Force Field Controller (DForC), a reliable and effective framework in the context of humanoid robotics for real-time reaching and tracking in presence of obstacles. It is inspired by well established works based on artificial potential fields, providing a robust basis for sidestepping a number of issues related to inverse kinematics of complex manipulators. DForC is composed...
In this paper we describe the hand of the humanoid iCub, an open source robotic platform funded by the European Commission. The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation. The final design has 9 actuators for each hand, 12 tactile sensors at each fingertip, 48 pressure sensors...
In this paper we describe the design of a Cartesian Controller for a generic robot manipulator. We address some of the challenges that are typically encountered in the field of humanoid robotics. The solution we propose deals with a large number of degrees of freedom, produce smooth, human-like motion and is able to compute the trajectory on-line. In this paper we support the idea that to produce...
Simulated BER curves of a satellite channel link with a X-Band Transmission Assembly (TXA) are presented in this paper. System under study models the TXA an AWGN channel and an ideal receiver. TXA shall provide the appropriate signal amplification in order to perform the downlink at a given data rate ensuring a specified BER, in two different system configurations: with and without data coding (Reed...
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