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pro vyhledávání: '"Au, K."'
This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a transparent oper
Externí odkaz:
http://arxiv.org/abs/2410.21758
Autor:
Jiang, Zhongliang, Li, Xuesong, Chu, Xiangyu, Karlas, Angelos, Bi, Yuan, Cheng, Yingsheng, Au, K. W. Samuel, Navab, Nassir
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the in-plane view,
Externí odkaz:
http://arxiv.org/abs/2407.18357
This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the open-set Vision-
Externí odkaz:
http://arxiv.org/abs/2310.08873
Autor:
Chu+, Xiangyu, Wang+, Shengzhi, Feng, Minjian, Zheng, Jiaxi, Zhao, Yuxuan, Huang, Jing, Au, K. W. Samuel
Publikováno v:
2023 IEEE International Conference on Automation Science and Engineering (CASE)
Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags. In contrast
Externí odkaz:
http://arxiv.org/abs/2308.10401
Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works studied simple
Externí odkaz:
http://arxiv.org/abs/2210.10238
Autor:
Lin, Hongbin, Gao, Qian, Chu, Xiangyu, Dou, Qi, Deguet, Anton, Kazanzides, Peter, Au, K. W. Samuel
Publikováno v:
IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 6, NO. 2, APRIL 2021
Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown system disturbance caused by unmodeled dynamics (such as internal complianc
Externí odkaz:
http://arxiv.org/abs/2210.01398
Publikováno v:
2023 IEEE International Conference on Robotics and Automation (ICRA)
Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving safe landin
Externí odkaz:
http://arxiv.org/abs/2209.15337
Trajectory optimization has been used extensively in robotic systems. In particular, iterative Linear Quadratic Regulator (iLQR) has performed well as an off-line planner and online nonlinear model predictive control solver, with a lower computationa
Externí odkaz:
http://arxiv.org/abs/2109.07131
Autor:
Lin, Hongbin, Hui, C. W. Vincent, Wang, Yan, Deguet, Anton, Kazanzides, Peter, Au, K. W. Samuel
Publikováno v:
IEEE Robotics and Automation Letters 4.4 (2019): 3892-3899
External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing gravity compensation methods. Significant motion drifts at the MTM tip
Externí odkaz:
http://arxiv.org/abs/2001.06156
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