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View article: SCANS: A Soft Gripper with Curvature and Spectroscopy Sensors for In-Hand Material Differentiation
SCANS: A Soft Gripper with Curvature and Spectroscopy Sensors for In-Hand Material Differentiation Open
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This …
View article: Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning Open
Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this paper, we propose a novel multi-model motion planning pipeline…
View article: ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Open
Object 6D pose estimation is a critical challenge in robotics, particularly for manipulation tasks. While prior research combining visual and tactile (visuotactile) information has shown promise, these approaches often struggle with genera…
View article: Use-Inspired Mobile Robot to Improve Safety of Building Retrofit Workforce in Constrained Spaces
Use-Inspired Mobile Robot to Improve Safety of Building Retrofit Workforce in Constrained Spaces Open
The inspection of confined critical infrastructure such as attics or crawlspaces is challenging for human operators due to insufficient task space, limited visibility, and the presence of hazardous materials. This paper introduces a protot…
View article: Forest Biomass Mapping with Terrestrial Hyperspectral Imaging for Wildfire Risk Monitoring
Forest Biomass Mapping with Terrestrial Hyperspectral Imaging for Wildfire Risk Monitoring Open
With the rapid increase in wildfires in the past decade, it has become necessary to detect and predict these disasters to mitigate losses to ecosystems and human lives. In this paper, we present a novel solution -- Hyper-Drive3D -- consist…
View article: Data-Driven Sampling Based Stochastic MPC for Skid-Steer Mobile Robot Navigation
Data-Driven Sampling Based Stochastic MPC for Skid-Steer Mobile Robot Navigation Open
Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we tackle such nonlinearities by enhancing a dynamic unicycle m…
View article: Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties Open
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex …
View article: In Situ Measurement of Track Shape in Cold Spray Deposits
In Situ Measurement of Track Shape in Cold Spray Deposits Open
Cold spray is a material deposition technology with a high deposition rate and attractive material properties that has great interest for additive manufacturing (AM). Successfully cold spraying free-form parts that are close to their inten…
View article: Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis
Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis Open
Accurate identification of complex terrain characteristics, such as soil composition and coefficient of friction, is essential for model-based planning and control of mobile robots in off-road environments. Spectral signatures leverage dis…
View article: Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies
Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies Open
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed D…
View article: Learning a Stable, Safe, Distributed Feedback Controller for a Heterogeneous Platoon of Autonomous Vehicles
Learning a Stable, Safe, Distributed Feedback Controller for a Heterogeneous Platoon of Autonomous Vehicles Open
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from it…
View article: PROSPECT: Precision Robot Spectroscopy Exploration and Characterization Tool
PROSPECT: Precision Robot Spectroscopy Exploration and Characterization Tool Open
Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized end effector and acquisition strategy to capture spectral s…
View article: Imposing Motion Variability for Ergonomic Human-Robot Collaboration
Imposing Motion Variability for Ergonomic Human-Robot Collaboration Open
OCCUPATIONAL APPLICATIONS"Overassistive" robots can adversely impact long-term human-robot collaboration in the workplace, leading to risks of worker complacency, reduced workforce skill sets, and diminished situational awareness. Ergonomi…
View article: StereoNavNet: Learning to Navigate using Stereo Cameras with Auxiliary Occupancy Voxels
StereoNavNet: Learning to Navigate using Stereo Cameras with Auxiliary Occupancy Voxels Open
Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets…
View article: A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains
A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains Open
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process Reg…
View article: Multimodal fusion of EMG and vision for human grasp intent inference in prosthetic hand control
Multimodal fusion of EMG and vision for human grasp intent inference in prosthetic hand control Open
Objective: For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. Current control methods based on physiological signals such as electromyography (EMG) are prone to yielding …
View article: Practical Approaches Towards Transparent and Stable Bilateral Teleoperation Under Time-Varying Network Delay
Practical Approaches Towards Transparent and Stable Bilateral Teleoperation Under Time-Varying Network Delay Open
In real-life teleoperation scenarios, the presence of time-varying network delays, particularly in wireless networks, poses significant challenges in maintaining stability in a bilateral teleoperation system. Various approaches have been p…
View article: Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets
Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets Open
We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to this hub, the size, weight, power, and cost …
View article: Analysis and Perspectives on the ANA Avatar XPRIZE Competition
Analysis and Perspectives on the ANA Avatar XPRIZE Competition Open
The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though physically present. The competition featured a unique require…
View article: HASHI: Highly Adaptable Seafood Handling Instrument for Manipulation in Industrial Settings
HASHI: Highly Adaptable Seafood Handling Instrument for Manipulation in Industrial Settings Open
The seafood processing industry provides fertile ground for robotics to impact the future-of-work from multiple perspectives including productivity, worker safety, and quality of work life. The robotics research challenge is the realizatio…
View article: E(2)-Equivariant Graph Planning for Navigation
E(2)-Equivariant Graph Planning for Navigation Open
Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D navigati…
View article: Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments
Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments Open
Hyperspectral sensors have enjoyed widespread use in the realm of remote sensing; however, they must be adapted to a format in which they can be operated onboard mobile robots. In this work, we introduce a first-of-its-kind system architec…
View article: A Vision for Cleaner Rivers: Harnessing Snapshot Hyperspectral Imaging to Detect Macro-Plastic Litter
A Vision for Cleaner Rivers: Harnessing Snapshot Hyperspectral Imaging to Detect Macro-Plastic Litter Open
Plastic waste entering the riverine harms local ecosystems leading to negative ecological and economic impacts. Large parcels of plastic waste are transported from inland to oceans leading to a global scale problem of floating debris field…
View article: Mobile MoCap: Retroreflector Localization On-The-Go
Mobile MoCap: Retroreflector Localization On-The-Go Open
Motion capture through tracking retroreflectors obtains highly accurate pose estimation, which is frequently used in robotics. Unlike commercial motion capture systems, fiducial marker-based tracking methods, such as AprilTags, can perform…
View article: Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned
Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned Open
This paper reports on Team Northeastern's Avatar system for telepresence, and our holistic approach to meet the ANA Avatar XPRIZE Final testing task requirements. The system features a dual-arm configuration with hydraulically actuated glo…