Article
Automation & Control Systems
Yaru Gu, Ting Zou
Summary: This article presents a novel approach for quadrupedal robot motion planning on rough terrain, which is both conceptually straightforward and computationally efficient. The proposed method selects body poses and swing-leg footholds based on workspace and introduces the cross-diagonal method for searching new body poses. It achieves high success rates in overcoming difficult terrains without prior knowledge of the environment, demonstrating its significance and adaptability.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Robotics
Rohit Sonker, Ashish Dutta
Summary: This study utilizes a learning based Model Predictive Controller (MPC) for path tracking by a four-wheel robot on uneven terrain. A neural network is employed as a model with the capability to learn complex state transition dynamics. Incorporating terrain height information improves performance significantly.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Electrical & Electronic
Lihang Feng, Tianyuan Miao, Xu Jiang, Min Cheng, Yong Hu, Weigong Zhang, Aiguo Song
Summary: This article presents the design and implementation of an instrumented wheel for characterizing the wheel-terrain interaction to improve the traversability of planetary rovers. Experimental calibration and field tests have verified the potential applicability of such a system in future planetary traverses.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2022)
Article
Robotics
Feng Xue, Chen Yao, Ye Yuan, Yangtao Ge, Wujie Shi, Zheng Zhu, Liang Ding, Zhenzhong Jia
Summary: This letter proposes an integrated wheel-terrain interaction detecting algorithm for monitoring the states and interactions of a wheeled mobile robot with soft terrains. The algorithm achieves high frequency and accuracy, and a semi-empirical model is also proposed to estimate the relationship between wheel sinkage and slip ratio, enhancing the safety and success rate of the robot.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Jie Li, Jun He, Yan Xing, Feng Gao
Summary: This letter presents a control method for a planetary rover equipped with an active suspension system, which allows simultaneous control of terrain adaptation and wheel speed allocation, improving the performance and efficiency of the rover on uneven terrain.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Tangyou Liu, Chao Zhang, Jiaole Wang, Shuang Song, Max Q-H Meng
Summary: This paper investigates an in situ transformation method for wheel-biped transformable robots, aiming to combine the advantages of wheeled and footed robots. The transformation process includes foot-to-wheel and wheel-to-foot transformations, both requiring the robot to meet the constraints of footed and wheeled balances. A projection-based algorithm is proposed to adjust the robot posture and maintain balance during the transformation. Simulations and experiments on a prototype robot have verified the effectiveness of the proposed design and control strategy.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini, Claudio Semini
Summary: This work presents a vision-based planning strategy, ViTAL, for legged robots that addresses the problem of reachable safe footholds. ViTAL separates locomotion planning into foothold selection and pose adaptation, considering skills of the robot and the terrain-awareness. Experimental results with HyQ and HyQReal quadruped robots demonstrate that ViTAL outperforms a baseline strategy in climbing various obstacles at different speeds and gaits.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Chen Yao, Feng Xue, Zhengyin Wang, Ye Yuan, Zheng Zhu, Liang Ding, Zhenzhong Jia
Summary: By using onboard sensorized transparent wheels, this study aims to monitor and characterize the interaction between wheels and terrains in real-time, eliminating the inaccuracies caused by model-based estimations and achieving robust off-road locomotion.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Civil
Gabriel Guenter Waibel, Tobias Loew, Mathieu Nass, David Howard, Tirthankar Bandyopadhyay, Paulo Vinicius Koerich Borges
Summary: This paper presents a joint local and global planning methodology for building continuous cost maps using LIDAR. It introduces a novel traversability representation for terrain analysis and proposes two approaches, statistical and learning-based, to compute terrain cost and generate continuous cost maps. The method selects the optimal path considering distance and traversability cost and demonstrates applicability in off-road autonomous driving experiments.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Chemistry, Analytical
Hui Chen, Ju Wang
Summary: Soils are a complex ecosystem that provides critical services such as growing food, supplying antibiotics, filtering wastes, and maintaining biodiversity. Monitoring soil health and domestication is necessary for sustainable human development.
Article
Automation & Control Systems
Jun He, Yanlong Sun, Limin Yang, Jiaze Sun, Yan Xing, Feng Gao
Summary: This article presents the design, control, and implementation of a novel four-legged rover for planetary exploration. A novel active-passive coupled leg mechanism is proposed for the design of the planetary rover. Furthermore, the kinematic model of the robot is established and a kinematics-based control strategy is presented. Experiments show that the proposed control strategy effectively reduces variations of rover attitude angles and contact forces, as well as decreases slippage on irregular outdoor terrain.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Robotics
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon, Ioannis Havoutis
Summary: We propose a unified approach for quadrupedal planning and control using both model-based and data-driven methods. By utilizing reinforcement learning, sensory information and velocity commands are mapped into footstep plans, which are then tracked by a model-based motion controller. The results demonstrate the robustness of our method over a variety of complex terrains.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Robotics
Ahmadreza Ahmadi, Tonnes Nygaard, Navinda Kottege, David Howard, Nicolas Hudson
Summary: Research has shown that gated recurrent neural network technology enables legged robots to accurately classify terrain in challenging environments, and the use of raw unlabelled data in a semi-supervised model can significantly improve classification results.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Juyoun Park, Chung Hyuk Park
Summary: Artificial intelligence has shown remarkable performances in medical imaging, and further advancements can enhance the quality of surgical services. A method for recognizing and predicting surgical actions in robotic surgical scenes is proposed, which has been validated to be accurate and effective through experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Hongseok Cheon, Taehyoung Kim, Byung Kook Kim, Jucheol Moon, Hongjun Kim
Summary: This method proposes an online path refinement approach for mobile robots, which uses sensor data to refine the given path and avoid collisions and local minima. The method is practical in terms of computation time and memory size.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Robotics
Camilo Ordonez, Oscar Y. Chuy, Emmanuel G. Collins, Xiuwen Liu
JOURNAL OF FIELD ROBOTICS
(2011)
Article
Computer Science, Software Engineering
Mario Harper, Camilo Ordonez, Emmanuel Collins
Summary: Sampling-Based Model Predictive Control (SBMPO) is a novel approach to nonlinear MPC that enables motion planning with dynamic models. It is suitable for solving traditional MPC problems and has been tested in various scenarios such as robotics, task scheduling, resource management, combustion processes, and general optimization.
Proceedings Paper
Computer Science, Artificial Intelligence
Camilo Ordonez, Oscar Chuy, Tomas Fajardo
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2019)
Proceedings Paper
Robotics
Camilo Ordonez, Ryan Alicea, Brandon Rothrock, Kyle Ladyko, Mario Harper, Sisir Karumanchi, Larry Matthies, Emmanuel Collins
UNMANNED SYSTEMS TECHNOLOGY XX
(2018)
Proceedings Paper
Robotics
Mario Y. Harper, Camilo Ordonez, Emmanuel G. Collin, Gordon Erlebacher
UNMANNED SYSTEMS TECHNOLOGY XX
(2018)
Proceedings Paper
Computer Science, Interdisciplinary Applications
Elizabeth Baum, Mario Harper, Ryan Alicea, Camilo Ordonez
2018 SECOND IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC)
(2018)
Proceedings Paper
Automation & Control Systems
Mario Harper, James Pace, Nikhil Gupta, Camilo Ordonez, Emmanuel G. Collins
UNMANNED SYSTEMS TECHNOLOGY XIX
(2017)
Proceedings Paper
Automation & Control Systems
James Pace, Mario Harper, Camilo Ordonez, Nikhil Gupta, Aneesh Sharma, Emmanuel G. Collins
UNMANNED SYSTEMS TECHNOLOGY XIX
(2017)
Proceedings Paper
Engineering, Electrical & Electronic
Ryan Kopinsky, Aneesh Sharma, Nikhil Gupta, Camilo Ordonez, Emmanuel Collins, Daniel Barber
UNMANNED SYSTEMS TECHNOLOGY XVIII
(2016)
Proceedings Paper
Engineering, Electrical & Electronic
Daniel J. Blackman, John V. Nicholson, Camilo Ordonez, Bruce D. Miller, Jonathan E. Clark
UNMANNED SYSTEMS TECHNOLOGY XVIII
(2016)
Proceedings Paper
Green & Sustainable Science & Technology
Sam Yang, Mauricio B. Chagas, Tomas Solano, Juan C. Ordonez, Taylor Davis, Jose V. C. Vargas, Camilo Ordonez
2015 IEEE CONFERENCE ON TECHNOLOGIES FOR SUSTAINABILITY (SUSTECH)
(2015)
Proceedings Paper
Construction & Building Technology
J. C. Ordonez, S. Yang, C. Ordonez, J. V. C. Vargas, T. Solano, M. Bublitz, E. Collins
PROCEEDINGS OF THE ASME 8TH INTERNATIONAL CONFERENCE ON ENERGY SUSTAINABILITY, 2014, VOL 2
(2014)
Proceedings Paper
Automation & Control Systems
Oscar Chuy, Emmanuel G. Collins, Camilo Ordonez, Jorge Candiotti, Hongwu Wang, Rory Cooper
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2014)
Proceedings Paper
Automation & Control Systems
Camilo Ordonez, Nikhil Gupta, Oscar Chuy, Emmanuel G. Collins
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2013)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)