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10/11/2022
REMS: Middleware for Robotics Education and Development
This paper introduces REMS, a robotics middleware and control framework ...
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02/07/2022
An origami crawling robot driven by a folded self-sustained oscillator
Locomotive robots that do not rely on electronics and/or electromagnetic...
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11/15/2021
Joint State and Input Estimation of Agent Based on Recursive Kalman Filter Given Prior Knowledge
Modern autonomous systems are purposed for many challenging scenarios, w...
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10/01/2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
This paper presents a light-weight frontend LiDAR odometry solution with...
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08/19/2021
Resilient and consistent multirobot cooperative localization with covariance intersection
Cooperative localization is fundamental to autonomous multirobot systems...
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08/19/2021
A cut-and-fold self-sustained compliant oscillator for autonomous actuation of origami-inspired robots
Origami-inspired robots are of particular interest given their potential...
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04/11/2021
Fabrication-aware Design for Furniture with Planar Pieces
We propose a computational design tool to enable casual end-users to eas...
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03/03/2021
A Computational Design and Evaluation Tool for 3D Structures with Planar Surfaces
Three dimensional (3D) structures composed of planar surfaces can be bui...
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03/01/2021
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
Although Trajectory Optimization (TO) is one of the most powerful motion...
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11/10/2020
Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications
Orthogonally assembled double-layered corrugated (OADLC) mechanisms are ...
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11/09/2020
Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems
To improve the accessibility of robotics, we propose a design and fabric...
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11/02/2020
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Monocular depth inference has gained tremendous attention from researche...
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07/28/2020
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
In this paper, we propose an online path planning architecture that exte...
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06/04/2020
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming
We present a motion planning algorithm with probabilistic guarantees for...
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10/08/2019
Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach
In this paper, we present a synergic learning algorithm to address the t...
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02/13/2019
Analytical Modeling for Rapid Design of Bistable Buckled Beams
Double-clamped bistable buckled beams, as the most elegant bistable mech...
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09/09/2018
Mammalian Brain Inspired Localization Algorithms with von Mises Distributions
Biological agents still outperform the artificial counterparts in naviga...
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11/01/2017