13 papers
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas +5
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domai…
Analysis of Forces Exerted by Shoulder and Elbow Fabric-based Pneumatic Actuators for Pediatric Exosuits
Mehrnoosh Ayazi, Ipsita Sahin, Caio Mucchiani +2
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators…
Hierarchical Tri-manual Planning for Vision-assisted Fruit Harvesting with Quadrupedal Robots
Zhichao Liu, Jingzong Zhou, Konstantinos Karydis
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent li…
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance
Keran Ye, Konstantinos Karydis
The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to a…
Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism
Jingzong Zhou, Yuhan Zhu, Xiaobin Zhang +2
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for p…
Adaptive LiDAR Odometry and Mapping for Autonomous Agricultural Mobile Robots in Unmanned Farms
Hanzhe Teng, Yipeng Wang, Dimitrios Chatziparaschis +1
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environ…