1–20 of 78 hits
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    Gershgorin loss stabilizes the recurrent neural network compartment of an end-to-end robot learning scheme ; ICRA

    Free access
    Lechner, Mathias / Hasani, Ramin / Rus, Daniela et al. | BASE | 2020
    forcing the eigenvalues of the internal state updates of an LDS to be negative reals. We evaluate our approach on a series of real-life and ...
    Publisher: IEEE , IST Austria Research Explorer (Institute of Science and Technology)

    Designing worm-inspired neural networks for interpretable robotic control ; ICRA

    Free access
    Lechner, Mathias / Hasani, Ramin / Zimmer, Manuel et al. | BASE | 2019
    particular wiring structure. This property enables neurons to express liquid time-constants dynamics and therefore allows the network to originate ...
    Publisher: IEEE , IST Austria Research Explorer (Institute of Science and Technology)

    Shared Control Templates for Assistive Robotics

    Free access
    Quere, Gabriel / Hagengruber, Annette / Iskandar, Maged Samuel Zakri et al. | German Aerospace Center (DLR) | 2020
    achieved by representing a skill as a sequence of states, with specific user command mappings and different sets of constraints being applied in ...
    Publisher: IEEE
    Keywords: assistive robotics

    Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot

    Free access
    Urbain, Gabriel / Barasuol, Victor / Semini, Claudio et al. | BASE | 2020
    apply reflex-based dynamic locomotion, coupled with a balance and gravity compensation mechanism, on the state-of-art HyQ robot. We discuss the ...
    Publisher: IEEE , Ghent University Academic Bibliography
    Keywords: Technology and Engineering

    Real-time Robot-assisted Ergonomics

    Free access
    Shafti, A / Ataka, A / Urbistondo Lazpita, B et al. | BASE | 2019
    This paper describes a novel approach in human-robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the ...
    Publisher: IEEE , University College London: UCL Discovery
    Keywords: Robot sensing systems

    Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum

    Free access
    Iyengar, K / Stoyanov, D | BASE | 2021
    Concentric Tube Robots (CTRs), a type of continuum robot, are a collection of concentric, pre-curved tubes composed of super elastic nickel ...
    Publisher: IEEE , University College London: UCL Discovery

    Evaluating Immersive Teleoperation Interfaces: Coordinating Robot Radiation Monitoring Tasks in Nuclear Facilities

    Free access
    Stedman, Harvey / Kocer, Basaran Bahadir / Van Zalk, Nejra et al. | BASE | 2023
    We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low ...
    Publisher: IEEE , University College London: UCL Discovery
    Keywords: Robot kinematics

    Adversarial training is not ready for robot learning

    Free access
    Lechner, Mathias / Hasani, Ramin / Grosu, Radu et al. | BASE | 2021
    of nominal performance drop. While adversarial training appears to enhance the robustness and safety of a deep model deployed in open-world ...
    Publisher: IST Austria Research Explorer (Institute of Science and Technology)

    Revised Force Control Using a Compliant Sensor with a Position Controlled Robot

    Free access
    Lange, Friedrich / Jehle, Claudius / Suppa, Michael et al. | German Aerospace Center (DLR) | 2012
    control laws we rely on the well tuned position control loop and just use the force sensor to measure the target pose or to predict the desired ...

    Sample-efficient robot motion learning using Gaussian process latent variable models

    Free access
    Delgado-Guerrero, Juan Antonio / Colomé, Adrià / Torras, Carme | BASE | 2020
    Trabajo presentado en la IEEE International Conference on Robotics and Automation (ICRA), conferencia virtual celebrada del 31 de mayo al ...
    Publisher: Institute of Electrical and Electronics Engineers , Digital.CSIC (Spanish National Research Council)

    Mobile Robot Localization using Panoramic Vision and Combinations of Feature Region Detectors

    Free access
    Ramisa, Arnau / Tapus, Adriana / López de Mántaras, Ramón et al. | BASE | 2008
    IEEE International Conference on Robotics and Automation (ICRA 2008, Pasadena, California, May 19-23, 2008), pp. 538-543. ; This paper ...
    Publisher: Institute of Electrical and Electronics Engineers , Digital.CSIC (Spanish National Research Council)
    Keywords: Mobile Robot

    Analytic formulation of the kinestatic of robot manipulators with arbitrary topology

    Free access
    Staffetti, Ernesto / Thomas, Federico | BASE | 2002
    IEEE International Conference on Robotics and Automation (ICRA), 2002, Washington (EE.UU.) ; An analytic formulation of the statics and the ...
    Publisher: Institute of Electrical and Electronics Engineers , Digital.CSIC (Spanish National Research Council)
    Keywords: Automation: Robots , Robotics

    Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU

    Free access
    Kaldestad, Knut B. / Haddadin, Sami / Belder, Rico et al. | German Aerospace Center (DLR) | 2014
    easily adjusted. Based on the 3D robot representation and the remaining 3D environment data, the virtual forces that are fed to the trajectory ...

    Selection of image features for robot positioning using mutual information

    Free access
    Wells, Gordon / Torras, Carme | BASE | 1998
    IEEE International Conference on Robotics and Automation (ICRA), 1998, Lovaina (Bélgica) ; The authors and Venaille (1996) developed a ...
    Publisher: Institute of Electrical and Electronics Engineers , Digital.CSIC (Spanish National Research Council)

    Using laser and vision to locate a robot in an industrial environment: A practical experience

    Free access
    Alenyà, Guillem / Escoda Herrando, Josep / Martínez Velasco, Antonio Benito et al. | BASE | 2005
    IEEE International Conference on Robotics and Automation (ICRA), 2005, Barcelona (España) ; The fully flexible navigation of autonomous ...
    Publisher: Institute of Electrical and Electronics Engineers , Digital.CSIC (Spanish National Research Council)

    On redundant flagged manipulators

    Free access
    Alberich-Carramiñana, Maria / Thomas, Federico / Torras, Carme | BASE | 2006
    IEEE International Conference on Robotics and Automation (ICRA), 2006, Orlando (EE.UU.) ; Flagged in-parallel manipulators are attractive ...
    Publisher: Institute of Electrical and Electronics Engineers , Digital.CSIC (Spanish National Research Council)
    Keywords: Automation

    Merging Position and Orientation Motion Primitives

    Free access
    Saveriano, Matteo / Franzel, Felix / Lee, Dongheui | German Aerospace Center (DLR) | 2019
    In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time ...
    Publisher: IEEE

    Nordland-Part-2020

    Free access
    Sourav Garg | BASE | 2020
    on Long-Term Autonomy held in conjunction with the International Conference on Robotics and Automation (ICRA), 2013. ...

    Haptic intention augmentation for cooperative teleoperation

    Free access
    Panzirsch, Michael / Balachandran, Ribin / Artigas, Jordi et al. | BASE | 2017
    presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant ...

    Evaluation of Human Safety in the DLR Robotic Motion Simulator using a Crash Test Dummy

    Free access
    Sharma, Karan / Haddadin, Sami / Minning, Sebastian et al. | German Aerospace Center (DLR) | 2013
    simulation at the Robotics and Mechatronics Center, German Aerospace Center (DLR). Safety tests were undertaken to ascertain the effects of ...
    Publisher: IEEE
    Keywords: Physical Human-Robot Interaction , Robot Safety