Intuitive teleoperation interfaces are crucial for the safe and effective operation of robotic manipulators in challenging environments. In the nuclear industry, surface contact tasks such as swab sampling require precise path and force tracking, obstacle avoidance, and sustained operator attention, which conventional...
Juan Jose Garcia Cardenas, Alperen Kenan, Hamidreza Raei et al.· 2 citations
For fragile individuals with motor disabilities or rehabilitation needs, promoting physical activity while ensuring safe support is crucial. In this context, the growing demand for personalized assistance has heightened interest in robotic devices capable of providing adaptive, physically compliant support during walki...
A. Fortuna, M. Lorenzini, Elisa Motta et al.· IEEE Robotics and Automation...· 0 citations
Loop Closure Detection is a fundamental component of any SLAM system. By performing place recognition, a robot can correct accumulated drift errors arising from odometry uncertainties during the mapping process. Numerous techniques have been proposed in the literature to address this task under different sensor configu...
Non-prehensile manipulation of freely moving objects on a mobile base represents a significant challenge in underactuated robotics. This paper presents a sim-to-real reinforcement learning pipeline for a Unitree Go2 robot tasked with balancing a free-rolling ping-pong ball on a board mounted on its trunk while maintain...
