Robot-to-Robot Relative Pose Estimation based on Semidefinite Relaxation Optimization
Ming Li1,2, Guanqi Liang1,2, Haobo Luo1,2, Huihuan Qian1,2, and Tin Lun Lam1,2,†
In this paper, the 2D robot-to-robot relative pose (position and orientation) estimation problem based on ego-motion and noisy distance measurements is considered. We address this problem using an opt...
OceanVoy: A Hybrid Energy Planning System for Autonomous Sailboat
Q. Sun, W. Qi, H. Liu, Z. Sun, T. L. Lam and H. Qian
Towards long range and high endurance sailing, energy is of utmost importance. Moreover, benefiting from the dominance of the sailboat itself, it is energy-saving and environment-friendly. Thus, the s...
A Two-stage Automatic Latching System for The USVs Charging in Disturbed Berth
K. Xue et al.
Automatic latching for charging in a disturbed environment for Unmanned Surface Vehicle (USVs) is always a challenging problem. In this paper, we propose a two-stage automatic latching system for USVs...
DiPE: Deeper into Photometric Errors for Unsupervised Learning of Depth and Ego-motion from Monocular Videos
H. Jiang, L. Ding, Z. Sun and R. Huang
Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves thi...
Online Dynamic Motion Planning and Control for Wheeled Biped Robots
Songyan Xin1 and Sethu Vijayakumar1,2
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a p...
Multi-mode Trajectory Optimization for Impact-aware Manipulation
Theodoros Stouraitis∗,1,2, Lei Yan∗,1, Joao Moura1, Michael Gienger2, and Sethu Vijayakumar1,3
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often ...
Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev1 , Songyan Xin1 , Wolfgang Merkt1,2 , Vladimir Ivan1 , and Sethu Vijayakumar1,3
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the l...
A System-of-Systems Bio-Inspired Design Process: Conceptual Design and Physical Prototype of a Reconﬁgurable Robot Capable of Multi-Modal Locomotion
Ning Tan1*, Zhenglong Sun2,3*, Rajesh Elara Mohan4, Nishann Brahmananthan4, Srinivasan Venkataraman5, Ricardo Sosa6 and Kristin Wood4 (2019)
Modern engineering problems require solutions with multiple functionalities in order to meet their practical needs to handle a variety of applications in different scenarios. Conventional design parad...
Prospect Theoretic Analysis of Privacy-Preserving Mechanism
Guocheng Liao; Xu Chen; Jianwei Huang (2019)
We study a problem of privacy-preserving mechanism design. A data collector wants to obtain data from individuals to perform some computations. To relieve the privacy threat to the contributors, the d...
Joint Torque Estimation Toward Dynamic and Compliant Control for Gear-Driven Torque Sensorless Quadruped Robot
Bingchen Jin, Caiming Sun, Aidong Zhang, Ning Ding, Jing Lin, Ganyu Deng, Zuwen Zhu, Zhenglong Sun
This paper investigates dynamic and compliant control based on joint output torque estimation for electrically actuated quadruped robots with large-reduction-ratio harmonic gear. Compared with positio...
Population flow drives spatio-temporal distribution of COVID-19 in China
Jayson S. Jia1, Xin Lu2,3, Yun Yuan4, Ge Xu5, Jianmin Jia6,7 ✉ & Nicholas A. Christakis8 (2020)
Sudden, large-scale and diffuse human migration can amplify localized outbreaks of disease into widespread epidemics1–4. Rapid and accurate tracking of aggregate population flows may therefore be epid...
香港中文大学（深圳）机器人与智能制造研究院、深圳市人工智能与机器人研究院 机器人科研中心 （2020-02-24）
《ROBOTIST》孕育在2020年初的新冠疫情期间，我们定在2月24日“二月二·龙抬头”这一天发行创刊号，也是为了寄托一份美好的期望。创刊号将收集 CUHKSZ 和 AIRS 的机器人科研大团队近三年发表在国际顶刊顶会的论文，以及由作者翻译的中文稿。