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In this paper, we present a new feedback method to automatically servo-control the 3-D shape of soft objects with robotic manipulators. The soft object manipulation problem has recently received a great deal of attention from robotics researchers because of its potential applications in, e.g., food industry, home robots, medical robotics, and manufacturing. A major complication to automatically control...
In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are typically controlled by manual/teleoperated...
The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the “torso protective strategy” for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from...
Nowadays, robotic systems make use of compliant joint actuation to provide safe human-robot physical interactions, and in general, to improve the friendliness of the mechanism. However, note that with the introduction of these passive flexible elements, the actuators (which input the control actions) can not explicitly set the driving torque of the joints; for these types of systems, the difference...
Although consistent stability is desirable, a biped humanoid robot encounters a high risk of falling. Such falls may cause serious damage to both the robot and the environment. This study focuses on this issue and investigates four strategies based on human protective falling motion. These strategies are: "knee flexion", "torso flexion forward", "torso translation backward"...
This paper presents a novel and effective method for localizing the position of a mobile robot in real-time in unknown environments by fusing an omnidirectional vision system and odometry/orientation sensor. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the position of the robot and the unknown structures of natural features in the environment, we...
Indoor aerial robots are useful in many applications due to their size, agility and ability to hover. However, tweaking a state-feedback controller to fly stably takes either intensive human supervision, or extensive modeling and identification, hence has never been trivial. In this paper, we give a successful flight controller design that can learn from a single demonstration performed by human and...
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