The recent progress of advanced vehicle control systems presents a great opportunity for the application model predictive (MPC) in automotive industry. However, high computational complexity inherently associated with receding horizon optimization must be addressed to achieve real-time implementation. This paper generic scale reduction framework reduce online burden MPC controllers. A lower dimensional algorithm is formulated by combining an existing "move blocking " strategy "constraint-set...

This paper describes a new robotic tabletop rearrangement system, and presents experimental results. The tasks involve rearranging as many 30 to 100 blocks, sometimes packed with density of up 40%. high packing factor forces the system push several objects at time, making accurate simulation difficult, if not impossible. Nonetheless, achieves goals specifying pose every object, an average precision ± 1 mm 2°. searches through policy rollouts simulated pushing actions, using Iterated Local...

In this paper, we consider reorienting 3D objects on a table using two-finger pinch gripper. Given the mesh model of object, our algorithm solves for gripper motions that are required to transit between arbitrary object poses, grasping positions and poses. The two motion primitives used, pivoting compliant rolling, enable us decompose planning problem solve it more efficiently. Our can work with approximated (simplified) models while being robust approximation errors, thereby allowing...

Legged robots have been widely used in unstructured field environments, where unforeseen nongeometric hazards, such as sinkage or slippage might compromise their mobility. Such uncertain terrain-related risks may be very challenging to mitigate by employing point ball-shaped feet, however, determining the appropriate principles for foot design remains an open-research problem. This study presents a systematic pipeline of and evaluations sensorized terrain-adaptive (STAF) aiming remodel...

Threaded fasteners are prevalent throughout modern manufacturing. Thus, as the demand for automation in manufacturing increases, so does automated threaded fastening systems. However, many fundamental issues and engineering challenges still hinder robustness automation, particularly smaller screws critical product finishing requirements. This paper surveys state of art discusses open questions further research. survey covers following areas: 1) fundamentals fastening, including basic...

The further application of conventional ultrasound (US) image-guided microwave (MW) ablation liver cancer is often limited by two-dimensional (2D) imaging, inaccurate needle placement and the resulting skill requirement. three-dimensional (3D) robotic-assisted system provides an appealing alternative option, enabling physician to perform consistent, accurate therapy with improved treatment effectiveness.Our robotic constructed integrating imaging module, a needle-driven robot, MW thermal...

The off-road locomotion of wheeled mobile robots (WMRs) over soft terrains can be quite challenging due to the complicated wheel-terrain interaction (WTI). To avoid unforeseen non-geometric hazards such as excessive sinkage or slippage, it is crucial oversee these terrain-related uncertainties. However, determining appropriate sensing principle for WTI and hazard prediction remains an open problem. This letter showcases onboard sensorized transparent wheel concept (STW) aiming explicitly...

A shared grasp is a formed by contacts between the manipulated object and both robot hand environment.By trading off for environmental contacts, requires fewer with hand, enables manipulation even when full not possible.Previous research has used grasps non-prehensile such as pivoting tumbling.This paper treats problem more generally, methods to select best actions desired motion.The central issue evaluate feasible contact modes: each contact, whether that will remain active, slip...

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing eventual failure. To improve success rate, online prediction using vision, infrared imaging, model-based stochastic methods have been used literature. This paper proposes an on-board approach articulated wheeled bevameter that consists of a force-controlled arm instrumented (with force vision...

SUMMARY This paper presents a wheel–terrain interaction model, which enables efficient modeling of wheeled locomotion in soft soil and numerical simulations off-road mobile robots. modular model is derived based on wheel kinematics terramechanics the main focus describing stress distributions along interface reaction forces exerted by soil. When wheels are steered, shear stresses underneath were modeled isotropic assumptions. The torques contributed bulldozing effect side surfaces also...

SUMMARY Hazardous terrains pose a crucial challenge to mobile robots. To operate safely and efficiently, it is necessary detect the terrain type modify operation strategies in real-time. Fast analytical models of wheeled locomotion on deformable are thus important. Based classic terramechanics, closed-form wheel–soil interaction model was derived by quadratic approximation stresses along interface. The bulldozing resistance effects grousers were also added for more accurate prediction wheel...

Asynchronous Advantage Actor Critic (A3C) is an effective Reinforcement Learning (RL) algorithm for a wide range of tasks, such as Atari games and robot control. The agent learns policies value function through trial-and-error interactions with the environment until converging to optimal policy. Robustness stability are critical in RL; however, neural network can be vulnerable noise from unexpected sources not likely withstand very slight disturbances. We note that agents generated mild...

Unstructured environments pose diverse terrain-related risks, including slip and sinkage, that could significantly impact legged robot locomotion. Avoiding these risks can be achieved by predicting terrain properties using a physical foot-terrain interaction model. Advanced foot design based on this model, instead of traditional empirical models, lead to an improved overall traction performance. However, still represents open research problem. In paper, we propose planar with tactile-based...

Wheeled mobile robots (WMRs) have been proven to be quite competitive and useful in outdoor missions. However, they may face serious sinkage or slippage on deformable terrains, even get stuck damaged, thereby causing mission failure. To mitigate these risks, it is essential closely monitor the robot's states its interactions with soft terrains. In this letter, we propose an integrated wheel-terrain interaction detecting algorithm which can measure sinkage, contact angles, slip ratio...

Recognizing the same place undervariant viewpoint differences is fundamental capability for human beings and animals. However, such a strong recognition ability in robotics still an unsolved problem. Extracting local invariant descriptors from under various difficult. This article seeks to provide robots with human-like using new 3-D feature learning method. proposes novel lightweight fast sequence matching achieve robust recognition, capable of recognizing places previous trajectory...

Quadruped robots equipped with sensorless feet can only provide limited information regarding the foot interaction surroundings, limiting their off-road exploration capability in unstructured environments. To tackle this problem, we present Foot Vision, an innovative vision-based sensorized for quadruped robots. It consists of a compliant ankle, transparent sole visual markers, and internal camera. This is designed to be low-cost, lightweight, adaptable both deformable rigid terrains. The...

Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches achieve localization under varying environmental conditions changing viewpoints. uses a brute-force sequential matching method, which computationally intensive. In this work, we introduce multi-resolution sampling-based global place method (MRS-VPR), can significantly improve efficiency accuracy in matching. The novelty lies...

Abstract In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe events in same framework robots operated at different modes (e.g., wheel, leg), propose a unified description robots. We also provide parameter method based CNN DWT (discrete wavelet transformation) techniques verify its effectiveness over types Besides motion modes, paper considers influence slope angles robot’s handing...