NDLI: Self-improvement of learned action models with learned goal models

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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Characterization of handover orientations used by humans for efficient robot to human handovers

Co-manipulation with multiple probabilistic virtual guides

Electric stimulation feedback for gait control of walking robot

Adaptive optimal control for coordination in physical human-robot interaction

A pre-collision control strategy for human-robot interaction based on dissipated energy in potential inelastic impacts

Compliant wing design for a flapping wing micro air vehicle

Fault tolerant control for multiple successive failures in an octorotor: Architecture and experiments

A Micro-Aerial platform for vessel visual inspection based on supervised autonomy

Real-time 3D navigation for autonomous vision-guided MAVs

Wind disturbance rejection for an insect-scale flapping-wing robot

Ball juggling with an under-actuated flying robot

TailoredBRIEF: Online per-feature descriptor customization

3D Selective Search for obtaining object candidates

Building temporal consistent semantic maps for indoor scenes

RGB-D object modelling for object recognition and tracking

A mosaicing approach for vessel visual inspection using a micro-aerial vehicle

Countering drift in Visual Odometry for planetary rovers by registering boulders in ground and orbital images

Robust incremental SLAM with consistency-checking

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions

Trajectory-driven point cloud compression techniques for visual SLAM

Large-scale direct SLAM for omnidirectional cameras

Layout aware visual tracking and mapping

Full STEAM ahead: Exactly sparse gaussian process regression for batch continuous-time trajectory estimation on SE(3)

An on-chip, electricity-free and single-layer pressure sensor for microfluidic applications

Characteristics evaluation of a biomimetic microrobot for a Father-son Underwater Intervention Robotic system

Navigation of a rolling microrobot in cluttered environments for automated crystal harvesting

Survival microinjection into C. elegans with in vivo observation based on micromanipulation

Development of thermos responsive gel coated end effector for micro manipulation

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Implications of trajectory generation strategies for tubular continuum robots

Force feedback enhancement for soft tissue interaction tasks in cooperative robotic surgery

A robotic system for actively stiffening flexible manipulators

Design and control of a parallel linkage wrist for robotic microsurgery

Design and analysis of a magnetic actuated capsule camera robot for single incision laparoscopic surgery

A new single-port robotic system based on a parallel kinematic structure

POMDP manipulation via trajectory optimization

Tunable and stable real-time trajectory planning for urban autonomous driving

Robust in-hand manipulation of variously sized and shaped objects

Hierarchical planning for multi-contact non-prehensile manipulation

Discriminative feature learning for efficient RGB-D object recognition

Posture from motion

Generic sensor fusion package for ROS

Using sensory data fusion methods for infant body posture assessment

Robust visual inertial odometry using a direct EKF-based approach

Human-autonomy sensor fusion for rapid object detection

Kidnapped laser-scanner for evaluation of RFEC tool

A spider-inspired dragline enables aerial pitch righting in a mobile robot

Noise, morphology and control. An analysis of the stochastic behaviour of Braitenberg vehicles

Hybrid aerial and aquatic locomotion in an at-scale robotic insect

Dynamic modeling and experimental analysis of a two-ray undulatory fin robot

A novel parallely actuated bio-inspired modular limb

Emotional modulation of peripersonal space as a way to represent reachable and comfort areas

A three-toe biped foot with Hall-effect sensing

Fused angles: A representation of body orientation for balance

Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model

Evaluation of decentralized reactive swing-leg control on a powered robotic leg

Gradient-driven online learning of bipedal push recovery

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Segregating multiple groups of heterogeneous units in robot swarms using abstractions

COSΦ: Artificial pheromone system for robotic swarms research

Distributed cohesive control for robot swarms: Maintaining good connectivity in the presence of exterior forces

Stochastic swarm control with global inputs

Collective construction of dynamic structure initiated by semi-active blocks

Exploiting clusters for complete resource collection in biologically-inspired robot swarms

Feature Space Decomposition for effective robot adaptation

Probabilistic progress prediction and sequencing of concurrent movement primitives

Learning motor skills from partially observed movements executed at different speeds

Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems

Nonparametric Bayesian reward segmentation for skill discovery using inverse reinforcement learning

Temporal segmentation of pair-wise interaction phases in sequential manipulation demonstrations

Task-based grasp quality measures for grasp synthesis

A human inspired stable object load transfer for robots in hand-over tasks

Identification of danger state for grasping delicate tofu with fingertips containing viscoelastic fluid

Grasping control based on time-to-contact method for a robot hand equipped with proximity sensors on fingertips

Grasp planning by human experience on a variety of objects with complex geometry

Grasp planning with soft hands using Bounding Box object decomposition

Dual connected Bi-Copter with new wall trace locomotion feasibility that can fly at arbitrary tilt angle

Compliant wall-climbing robotic platform for various curvatures

Discrete-continuous clustering for obstacle detection using stereo vision

Long range traversable region detection based on superpixels clustering for mobile robots

Locust-inspired miniature jumping robot

Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Effect of vibrotactile cues for guiding simultaneous procedural motion of two joints on upper limbs

Performance evaluation of Magneto-Rheological based actuation for haptic feedback in medical applications

Operability study on the multisensory illusion inducible in microsurgical robotic systems

Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach

Haptic rendering of hyperelastic models with friction

Evaluation of a predictive approach in steering the human locomotion via haptic feedback

Patrolling robot based on Bayesian learning for multiple intruders

Deploying teams of heterogeneous UAVs in cooperative two-level surveillance missions

Minimizing communication latency in multirobot situation-aware patrolling

Probabilistic surveillance by mobile robot for unknown intruders

Detection of continuous barking actions from search and rescue dogs' activities data

A novel optical tracking based tele-control system for tabletop object manipulation tasks

Generation of dynamically feasible and collision free trajectory by applying six-order Bezier curve and local optimal reshaping

Towards table tennis with a quadrotor autonomous learning robot and onboard vision

Coordinated vision-based tracking for multiple UAVs

On modeling and control of a holonomic vectoring tricopter

Distributed formation control of fixed wing micro aerial vehicles for area coverage

Power and endurance modelling of battery-powered rotorcraft

Multimodal deep learning for robust RGB-D object recognition

Robustness to lighting variations: An RGB-D indoor visual odometry using line segments

Ground segmentation and occupancy grid generation using probability fields

Discriminating liquids using a robotic kitchen assistant

Rotation and translation invariant 3D descriptor for surfaces

SRSL: Monocular self-referenced line structured light

Spatial sampling strategy for a 3D sonar sensor supporting BatSLAM

Cross-season place recognition using NBNN scene descriptor

A fast histogram-based similarity measure for detecting loop closures in 3-D LIDAR data

NICP: Dense normal based point cloud registration

Pose interpolation SLAM for large maps using moving 3D sensors

Towards acoustic structure from motion for imaging sonar

A switching controller for high speed cell transfer with a robot-aided optical tweezers manipulation system

Generation of swirl flow by needle vibration for micro manipulation

Non-Contact manipulation of microbeads via pushing and pulling using magnetically controlled clusters of paramagnetic microparticles

Automated microrobotic manipulation of paper fiber bonds

Direct laser written passive micromanipulator end-effector for compliant object manipulation

Automated bubble-based assembly of cell-laden microgels into vascular-like microtubes

Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system

Modeling, design and control of an endoscope manipulator for FESS

A hand-held flexible mechatronic device for arthroscopy

Rapid manufacturing with selective laser melting for robotic surgical tools: Design and process considerations

Towards physiological motion compensation for flexible needle interventions

Smart sensorized polymeric skin for safe robot collision and environmental interaction

Grounding of actions based on verbalized physical effects and manipulation primitives

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Force/position/rolling control for spherical tip robotic fingers

Cooperative manipulation exploiting only implicit communication

Dynamic in-hand sliding manipulation

Leveraging appearance priors in non-rigid registration, with application to manipulation of deformable objects

Fine manipulative action recognition through sensor fusion

Vision-aided inertial navigation with line features and a rolling-shutter camera

Financialized methods for market-based multi-sensor fusion

Incremental dense multi-modal 3D scene reconstruction

Surface classification based on vibration on omni-wheel mobile base

VoxNet: A 3D Convolutional Neural Network for real-time object recognition

Trail-Map-based homing under the presence of sensor noise

High response master-slave control eye robot system using gaze tracking data

Passive trunk mechanism for controlling walking behavior of semi-passive walker

Study on rectilinear locomotion based on a snake robot with passive anchor

Using a planar snake robot as a robotic arm taking into account the lack of a fixed base: Feasible region

Kinematics, stiffness and natural frequency of a redundantly actuated masticatory robot constrained by two point-contact higher kinematic pairs

On the relationship between manifold learning latent dynamics and zero dynamics for human bipedal walking

Active control of under-actuated foot tilting for humanoid push recovery

Thermobot: A bipedal walker driven by constant heating

Biologically Inspired Dead-beat controller for bipedal running in 3D

On the adaptation of dynamic walking to persistent external forcing using hybrid zero dynamics control

Integrating dynamic walking and arm impedance control for cooperative transportation

Reinforcement learning of variable admittance control for human-robot co-manipulation

A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control

Learning optimal controllers in human-robot cooperative transportation tasks with position and force constraints

Grasp pose estimation in human-robot manipulation tasks using wearable motion sensors

Personalized kinematics for human-robot collaborative manipulation

A robust control method of multi-DOF power-assistant robots for unknown external perturbation using sEMG signals

Underwater sensor network using received signal strength of electromagnetic waves

Automatic restoration of underwater monocular sequences of images

COLREGS-compliant target following for an Unmanned Surface Vehicle in dynamic environments

Robust control design for positioning of an unactuated surface vessel

Motion safety for vessels: An approach based on Inevitable Collision States

Atoms based control of mobile robots with Hardware-In-the-Loop validation

Kirigami robot: Making paper robot using desktop cutting plotter and inkjet printer

Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy

SpineMan: Design of a soft robotic spine-like manipulator for safe human-robot interaction

Model-free control framework for multi-limb soft robots

Soft pneumatic actuator with adjustable stiffness layers for Multi-DoF Actuation

Six-braided tube in-pipe locomotive device

Generalized Force-and-Energy Manipulability for design and control of redundant robotic arm

Continuous-time estimation for dynamic obstacle tracking

Scene understanding for a high-mobility walking robot

2-2D differential gear mechanism for robot moving inside pipelines

Learning crop models for vision-based guidance of agricultural robots

Autonomous golf cars for public trial of mobility-on-demand service

Stability of haptic systems with fractional order controllers

Two-dimensional orthoglide mechanism for revealing areflexive human arm mechanical properties

Design and realization of the CUFF - clenching upper-limb force feedback wearable device for distributed mechano-tactile stimulation of normal and tangential skin forces

Haptic passwords

Combining tactile sensing and vision for rapid haptic mapping

Shape and pose recovery from planar pushing

Measuring fingertip forces from camera images for random finger poses

Hand gesture interface for content browse using wearable wrist contour measuring device

POWER: A domain-independent algorithm for Probabilistic, Open-World Entity Resolution

Development of fast-response master-slave system using high-speed non-contact 3D sensing and high-speed robot hand

Human-robot information sharing with structured language generation from probabilistic beliefs

Facilitating intention prediction for humans by optimizing robot motions

Smartphones power flying robots

Perching failure detection and recovery with onboard sensing

Proposal and experimental validation of a design strategy for a UAV with a passive rotating spherical shell

High-speed, steady flight with a quadrocopter in a confined environment using a tether

Aerial tool operation system using quadrotors as Rotating Thrust Generators

Rotating the heading angle of underactuated flapping-wing flyers by wriggle-steering

SimTrack: A simulation-based framework for scalable real-time object pose detection and tracking

High-performance long range obstacle detection using stereo vision

Fast 3D edge detection by using decision tree from depth image

SCurV: A 3D descriptor for object classification

A minimal solution to the rolling shutter pose estimation problem

Real-time full-body human attribute classification in RGB-D using a tessellation boosting approach

A composite beacon initialization for EKF range-only SLAM

Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers

Online place recognition calibration for out-of-the-box SLAM

Reduced dimensionality extended Kalman Filter for SLAM in a relative formulation

Stereo parallel tracking and mapping for robot localization

Electrodeposition of cell-laden alginate-PLL hydrogel structures for spatially selective entrapment

Morphologies and swimming characteristics of rotating magnetic swimmers with soft tails at low Reynolds numbers

Stereovision-based control for automated MOEMS assembly

Magnetic microbot design framework for antiangiogenic tumor therapy

Multi-flagella helical microswimmers for multiscale cargo transport and reversible targeted binding

On-chip cell transportation based on vibration-induced local flow in open chip environment

Fluidic actuation for intra-operative in situ imaging

Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives

Design and kinematic analysis of a neurosurgical spring-based continuum robot using SMA spring actuators

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks

Analysis of a moving remote center of motion for robotics-assisted minimally invasive surgery

Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots

Aerial manipulation for the workspace above the airframe

Real-time object detection, localization and verification for fast robotic depalletizing

In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations

Constraint-based Model Predictive Control for holonomic mobile manipulators

Task-centric selection of robot and environment initial configurations for assistive tasks

Orientation-based reachability map for robot base placement

Force sensing shell using a planar sensor for miniature legged robots

Tactile sensing for gecko-inspired adhesion

Link elasticity exploited for payload estimation and force control

Augmenting curved robot surfaces with soft tactile skin

SupraPeds: Smart staff design and terrain characterization

Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery

Low-rank forward models: A path to the self-organization of visuo-motor systems

Multi-arm robotic swimmer actuated by antagonistic SMA springs

Surface EMG based posture control of shoulder complex linkage mechanism

Development of robot legs inspired by bi-articular muscle-tendon complex of cats

Design and fabrication of an insect-scale flying robot for control autonomy

Sensing the neighboring robot by the artificial lateral line of a bio-inspired robotic fish

Generalization of optimal motion trajectories for bipedal walking

A whole-body pose taxonomy for loco-manipulation tasks

The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control

Inversion-based gait generation for humanoid robots

Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle

Passive frontal plane coupling in 3D walking

Non linear position and closed loop stiffness control for a pneumatic actuated haptic interface: the BirthSIM

Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws

Lightweight compliant arm for aerial manipulation

Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller

Visual shock absorber based on maxwell model for anti-rebound control

Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators

Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller

An adaptive controller for autonomous underwater vehicles

Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Hybrid cable-thruster actuated underwater vehicle-manipulator systems: A study on force capabilities

A centralized planner considering task spatial configuration for a group of marine vehicles: Field test results

On mixed-initiative planning and control for Autonomous underwater vehicles

Control of soft pneumatic finger-like actuators for affective motion generation

Haptic identification of objects using a modular soft robotic gripper

Millimeter-scale magnetic swimmers using elastomeric undulations

A soft cube capable of controllable continuous jumping

Modelling and experimental analysis of a novel design for soft pneumatic artificial muscles

Printing angle sensors for foldable robots

A robust electro-mechanical interface for cooperating heterogeneous multi-robot teams

An isoperimetric formulation to predict deformation behavior of pneumatic fiber reinforced elastomeric actuators

Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device

Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts

Modeling and identification of a variable stiffness joint based on twisted string actuators

Fiber optically sensorized multi-fingered robotic hand

Classifying compliant manipulation tasks for automated planning in robotics

RRA: Models and tools for robotics run-time adaptation

Automatic error recovery in robot assembly operations using reverse execution

Modeling robot and world interfaces for reusable tasks

A best-effort approach for run-time channel prioritization in real-time robotic application

An approach for a distributed world model with QoS-based perception algorithm adaptation

Analysis and semantic modeling of modality preferences in industrial human-robot interaction

Human intention inference and motion modeling using approximate E-M with online learning

Robot programming from demonstration, feedback and transfer

Field trial of an information-providing robot in a shopping mall

User modelling for personalised dressing assistance by humanoid robots

A redundancy resolution method for an anthropomorphic dual-arm manipulator based on a musculoskeletal criterion

Nonlinear observer for the control of bi-tethered multi aerial robots

Adaptive motion control of aerial robotic manipulators based on virtual decomposition

High-frequency MAV state estimation using low-cost inertial and optical flow measurement units

Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments

Aerial manipulator for structure inspection by contact from the underside

Design and implementation of an unmanned tail-sitter

A minimal solution for the calibration of a 2D laser-rangefinder and a camera based on scene corners

Dynamic body VSLAM with semantic constraints

Incremental learning from a single seed image for object detection

Real-time manhattan world rotation estimation in 3D

Robotic detection and tracking of Crown-of-Thorns starfish

B-SHOT: A binary feature descriptor for fast and efficient keypoint matching on 3D point clouds

Large-scale direct SLAM with stereo cameras

3-DOF point cloud registration using congruent triangles

2D-SDF-SLAM: A signed distance function based SLAM frontend for laser scanners

Towards intensity-augmented SLAM with LiDAR and ToF sensors

Fused 2D/3D position tracking for robust SLAM on mobile robots

3D pose estimation with one plane correspondence using kinect and IMU

Real-time detecting and tracking nanoscale feeble vibrations based SF-AM AFM

Robust control for valveless flow switching in microfluidic networks

Propulsion and steering of helical magnetic microrobots using two synchronized rotating dipole fields in three-dimensional space

Precision prediction using interval exponential mapping of a parallel kinematic smart composite microstructure

Dynamic obstacle avoidance for bacteria-powered microrobots

Releasing and accurate placing of adhered micro-objects using high speed motion of end effector

A cross-helical tendons actuated dexterous continuum manipulator

Compact haptic device using a pneumatic bellows for teleoperation of a surgical robot

Robotic Flexible Laparoscope with position retrieving system for assistive minimally invasive surgery

Improving position precision of a servo-controlled elastic cable driven surgical robot using Unscented Kalman Filter

Catheter contact force estimation from shape detection using a real-time Cosserat rod model

A retrofit eye gaze tracker for the da Vinci and its integration in task execution using the da Vinci Research Kit

Dynamically Pruned A* for re-planning in navigation meshes

Motion planning using first-order synergies

Sampling-based planning for maximum margin input space obstacle avoidance

An asymptotically-optimal sampling-based algorithm for Bi-directional motion planning

Risk aversion in belief-space planning under measurement acquisition uncertainty

Smooth orientation path planning with quaternions using B-splines

Robust real time material classification algorithm using soft three axis tactile sensor: Evaluation of the algorithm

Prediction of interaction force using EMG for characteristic evaluation of touch and push motions

Tactile sensing system for robotics dexterous manipulation based on a matrix of 3-axes force sensors

Feasibility of a novel indicator for lump detection using contact pressure distribution

Force and proximity fingertip sensor to enhance grasping perception

Event-based signaling for reducing required data rates and processing power in a large-scale artificial robotic skin

A tendon-driven continuum robot with extensible sections

The effect of spanwise flexibility on the propulsion performance of an oscillating pectoral fin

Thorax unit driven by unidirectional USM for under 10-gram flapping MAV platform

Design and analysis of a rotational leg-type miniature robot with an actuated middle joint and a tail (RoMiRAMT)

Non-vector space landing control for a miniature tailed robot

Structural vibration for robotic communication and sensing on one-dimensional structures

State estimation for biped robots using multibody dynamics

Identification of dynamics of humanoids: Systematic exciting motion generation

Humanoid navigation and heavy load transportation in a cluttered environment

Shuffle motion for humanoid robot by sole load distribution and foot force control

Dynamic gait transition between bipedal and quadrupedal locomotion

Robust vertical ladder climbing and transitioning between ladder and catwalk for humanoid robots

An impedance control modification guaranteeing compliance strictly within preselected spatial limits

Evaluating human motor function of lower limbs in periodic motion during pedaling exercise

An unlumped model for linear series elastic actuators with ball screw drives

A selective recruitment strategy for exploiting muscle-like actuator impedance properties

Role of compliance on the locomotion of a reconfigurable modular snake robot

Impact force control based on stiffness ellipse method using biped robot equipped with biarticular muscles

A Variational Bayes approach for reliable underwater navigation

HippoCampus: A micro underwater vehicle for swarm applications

Belief space planning for underwater cooperative localization

Adversarial blocking techniques for autonomous surface vehicles using model-predictive motion goal computation

Suction helps in a pinch: Improving underwater manipulation with gentle suction flow

Momentum-driven single-actuated swimming robot

Simultaneous and realistic contact and force planning in grasping

Exact calculation for disturbance force rejection grasp quality measure

The quickgrasp algorithm for grasp synthesis

Grasp stability evaluation based on energy tolerance in potential field

A soft pneumatic actuator that can sense grasp and touch

Monolithic fabrication of sensors and actuators in a soft robotic gripper

Modal decoupling for MIMO self-oscillating systems - application to resonant force sensor control

A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing

A novel soft manipulator based on beehive structure

Design and response performance of capacitance meter for stretchable strain sensor

Friction compensation, gain scheduling and curvature control for a flexible parallel kinematics robot

A flexible fixtureless assembly of T-joint frame structures

Cooperative impedance control for multiple UAVs with a robotic arm

Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Dynamic load distribution in cooperative manipulation tasks

Path planning and control of multiple aerial manipulators for a cooperative transportation

Sensorless collision detection for safe human-robot collaboration

Task-priority redundancy resolution for co-operative control under task conflicts and joint constraints

Multimodal joint visual attention model for natural human-robot interaction in domestic environments

Simulating the effect of a social robot on moving pedestrian crowds

3D printed soft skin for safe human-robot interaction

A framework for unsupervised online human reaching motion recognition and early prediction

Increasing Autonomy Transparency through capability communication in multiple heterogeneous UAV management

Multi-robot manipulation controlled by a human with haptic feedback

Enhancing sampling-based kinodynamic motion planning for quadrotors

Distributed vision-based flying cameras to film a moving target

Solar powered UAV: Design and experiments

Optimization-based design of a novel hybrid aerial/ground mobile manipulator

Detection and characterization of moving objects with aerial vehicles using inertial-optical flow

Energy-optimal path planning for six-rotors on multi-target missions

Concurrent learning of visual codebooks and object categories in open-ended domains

Detection of ascending stairs using stereo vision

Optimized color models for high-quality 3D scanning

Cognitive sharing of object with subgraph matching and entropy minimization in multi robot systems

A hierarchical representation for human activity recognition with noisy labels

Joint categorization of objects and rooms for mobile robots

Robust visual SLAM across seasons

Keep it brief: Scalable creation of compressed localization maps

Robust graph SLAM in dynamic environments with moving landmarks

Localization and tracking under extreme and persistent sensory occlusion

Distance metric learning for feature-agnostic place recognition

Unilateral constraints in the Reverse Priority redundancy resolution method

Visual data association in narrow-bandwidth networks

The optimism principle: A unified framework for optimal robotic network deployment in an unknown obstructed environment

Dynamic Bandwidth Management Library for multi-robot systems

Optimal haptic control of a redundant 3-RRR Spherical Parallel Manipulator

Real-time software module design framework for building self-adaptive robotic systems

Vision-based intraoperative shape sensing of concentric tube robots

Validation of a new method for bone motion measurement by soft-tissue artifact compensation through spatial interpolation

Intuitive teleoperation of active catheters for endovascular surgery

An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS

Real-time needle steering in response to rolling vein deformation by a 9-DOF image-guided autonomous venipuncture robot

Path planning for semi-automated simulated robotic neurosurgery

Machine learning guided exploration for sampling-based motion planning algorithms

Smooth on-line path planning for needle steering with non-linear constraints

Heuristic search in belief space for motion planning under uncertainties

Kinodynamic motion planning with Space-Time Exploration Guided Heuristic Search for car-like robots in dynamic environments

Smooth path planning for passages with heading and curvature discontinuities

Robust trajectory selection for rearrangement planning as a multi-armed bandit problem

Superresolution with an optical tactile sensor

Force sensing for compliant actuators using coil spring inductance

Multimodal sensor fusion for foot state estimation in bipedal robots using the Extended Kalman Filter

A new design of a fingertip for the iCub hand

Multi-axis stiffness sensing device for medical palpation

Data correlation approach for slippage detection in robotic manipulations using tactile sensor array

Effective motion learning for a flexible-joint robot using motor babbling

Bio-inspired wind frame state sensing and estimation for MAV applications

Neural network based model for visual-motor integration learning of robot's drawing behavior: Association of a drawing motion from a drawn image

Development of a peristaltic crawling robot for long-distance sewer pipe inspection with consideration of complex pipe line

Ultrafine three-dimensional (3D) laser lithographic fabrication of microneedle and its application to painless insertion and blood sampling inspired by mosquito

Accelerating synchronization of movement primitives: Dual-arm discrete-periodic motion of a humanoid robot

Multiple contact planning for minimizing damage of humanoid falls

Development of musculoskeletal spine structure that fulfills great force requirements in upper body kinematics

Motion retargeting for humanoid robots based on identification to preserve and reproduce human motion features

Real-time pattern generation among obstacles for biped robots

Contact involving whole-body behavior generation based on contact transition strategies switching

A parallel distributed strategy for arraying a scattered robot swarm

Conducting multi-robot systems: Gestures for the passive teleoperation of multiple slaves

Equitable workload partitioning for Multi-Robot exploration through pairwise optimization

On the need for a coordination mechanism to guarantee task completion in a cooperative team

Multi-robot task acquisition through sparse coordination

Decentralised submodular multi-robot Task Allocation

Force adaptation with recursive regression Iterative Learning Controller

Direct state-to-action mapping for high DOF robots using ELM

PYROBOTS, a toolset for robot executive control

Constraint-based task programming with CAD semantics: From intuitive specification to real-time control

Model-free Probabilistic Movement Primitives for physical interaction

Lagrangian modeling and flight control of articulated-winged bat robot

Semantic parsing of human manipulation activities using on-line learned models for robot imitation

Integrating physics-based prediction with Semantic plan Execution Monitoring

Expressing and reasoning on features of robot-centric workplaces using ontological semantics

A principle of minimum translation search approach for object pose refinement

Semi-supervised online learning for efficient classification of objects in 3D data streams

Enhancing versatility and safety of industrial grippers with adaptive robotic fingers

The Baxter Easyhand: A robot hand that costs $150 US in parts

A novel nonlinear compliant link on simple grippers

Vacuum gripper imitated octopus sucker-effect of liquid membrane for absorption-

Underactuated robot hand for dual-arm manipulation

Counterfactual reasoning about intent for interactive navigation in dynamic environments

ABC-Center: Approximate-center election in modular robots

Distributed Particle Swarm Optimization - particle allocation and neighborhood topologies for the learning of cooperative robotic behaviors

D4L: Decentralized dynamic discriminative dictionary learning

Discrete-time distributed control and fault diagnosis for a class of linear systems

A distributed robust convergence algorithm for multi-robot systems in the presence of faulty robots

Multimodal adapted robot behavior synthesis within a narrative human-robot interaction

Leader tracking for a walking logistics robot

Context-based intent understanding using an Activation Spreading architecture

Parallel detection of conversational groups of free-standing people and tracking of their lower-body orientation

A novel MPC approach to optimize force feedback for human-robot shared control

Real-time changes to social dynamics in human-robot turn-taking

Parameterizations for reducing camera reprojection error for robot-world hand-eye calibration

Fast calibration of rotating and swivelling 3-D laser scanners exploiting measurement redundancies

Modeling and identification of position and temperature dependent friction phenomena without temperature sensing

Parametric covariance prediction for heteroscedastic noise

Unsupervised model-free camera calibration algorithm for robotic applications

Mirror-based high-speed gaze controller calibration with optics and illumination control

Building beliefs: Unsupervised generation of observation likelihoods for probabilistic localization in changing environments

Real-time visual-inertial localization for aerial and ground robots

Rotation free active vision

Scalable distributed collaborative tracking and mapping with Micro Aerial Vehicles

Optical flow for self-supervised learning of obstacle appearance

Autonomous vegetation identification for outdoor aerial navigation

Metric localization using Google Street View

Road invariant Extended Kalman Filter for an enhanced estimation of GPS errors using lane markings

Visible Light Communication-based indoor localization using Gaussian Process

A robot self-localization system using one-way ultra-wideband communication

Accurate indoor localization for RGB-D smartphones and tablets given 2D floor plans

IRON: A fast interest point descriptor for robust NDT-map matching and its application to robot localization

Design and analysis of parallel robots for a flexible fixturing system with performance atlases

Parametric optimal design of a parallel Schönflies-motion robot under pick-and-place trajectory constraints

Projection-based modeling and control of mechanical systems using non-minimum set of coordinates

A stable model-based control scheme for parallel robots using additional sensors

Workspace analysis of a 6-RSS parallel robot considering non-ideal spherical joints

On the forward kinematics of cable-driven parallel robots

A new robotic uterine positioner for laparoscopic hysterectomy with passive safety mechanisms: Design and experiments

Towards a follow-the-leader control for a binary actuated hyper-redundant manipulator

A robotics-assisted catheter manipulation system for cardiac ablation with real-time force estimation

Registration of a robotic system to a medical imaging system

Real-time adaptive kinematic model estimation of concentric tube robots

Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces

Improved roadmap connection via local learning for sampling based planners

Safe receding horizon control for aggressive MAV flight with limited range sensing

3-D exploration with an air-ground robotic system

Continuous unfolding of polyhedra - a motion planning approach

Motion planning for a three-stage multilumen transoral lung access system

Fast medial-axis approximation via Max-Margin pushing

Automatic centralized controller design for modular and reconfigurable robot manipulators

Complete reconfiguration algorithm for sliding cube-shaped modular robots with only sliding motion primitive

Design of mesoscale active cells for networked, compliant robotic structures

Modelling and control for position-controlled Modular Robot Manipulators

Collective grasping for non-cooperative objects using modular self-reconfigurable robots

Efficient modular-robotic structures to increase the force-to-weight ratio of scalable collective actuators

Walking inverted on ceilings with wheel-legs and micro-structured adhesives

Analysis on the dynamic climbing forces of a gecko inspired climbing robot based on GPL model

InchwormClimber: A light-weight biped climbing robot with a switchable magnet adhesion unit

State estimation and path following on curved and flat vertical surfaces with Omniclimber robots: Kinematics and control

Stair Climbing using a compliant modular robot

Design of an active magnetic wheel with a varying Electro-Permanent Magnet adhesion mechanism

Whole-body model-predictive control applied to the HRP-2 humanoid

Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing

Embedded joint-space control of a series elastic humanoid

Learning peripersonal space representation through artificial skin for avoidance and reaching with whole body surface

Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units

Simultaneous state and dynamics estimation in articulated structures

Visibility-based persistent monitoring with robot teams

A gradient-based self-healing algorithm for mobile robot formation

Multi-Robot Persistent Coverage with stochastic task costs

Metrics for performance benchmarking of multi-robot exploration

Benchmarking robot cooperation without pre-coordination in the RoboCup Standard Platform League drop-in player competition

A hybrid approach for multiple-robot SLAM with particle filtering

Learning Predictive State Representations for planning

Curiosity-Based Learning Algorithm for distributed interactive sculptural systems

Real-time deep learning of robotic manipulator inverse dynamics

Kernel density estimation for target trajectory prediction

Learning terrain types with the Pitman-Yor process mixtures of Gaussians for a legged robot

Cloth dynamics modeling in latent spaces and its application to robotic clothing assistance

Online safety verification of trajectories for unmanned flight with offline computed robust invariant sets

Synthesizing cooperative reactive mission plans

VISPEC: A graphical tool for elicitation of MTL requirements

Online horizon selection in receding horizon temporal logic planning

Concurrency patterns for easier robotic coordination

Learning product set models of fault triggers in high-dimensional software interfaces

Identification and reconstruction of complex weld geometry based on modified entropy

Application of deep neural network in estimation of the weld bead parameters

Friction modeling with temperature effects for industrial robot manipulators

Sensorless friction-compensated passive lead-through programming for industrial robots

Depth-based localization for robotic peg-in-tube assembly

Using task descriptions for designing optimal task specific manipulators

Modeling and tracking of dynamic obstacles for logistic plants using omnidirectional stereo vision

Augmented vehicle tracking under occlusions for decision-making in autonomous driving

Decentralized 2-D control of vehicular platoons under limited visual feedback

Real-time trajectory optimization under motion uncertainty using a GPU

Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent

A human factors analysis of proactive support in human-robot teaming

Exploring the effect of robot hand configurations in directional gestures for human-robot interaction

User recognition for guiding and following people with a mobile robot in a clinical environment

An evaluation of GUI and kinesthetic teaching methods for constrained-keyframe skills

UAV, do you see me? Establishing mutual attention between an uninstrumented human and an outdoor UAV in flight

Social context perception for mobile robots

Six DOF eye-to-hand calibration from 2D measurements using planar constraints

Analysis and compensation of calibration errors in a multi-robot surgical platform

The calibration device and method of humanoid finger sensor based on multimodal perception

Exploiting known unknowns: Scene induced cross-calibration of lidar-stereo systems

Constrained dynamic parameter estimation using the Extended Kalman Filter

MSG-cal: Multi-sensor graph-based calibration

PROBE: Predictive robust estimation for visual-inertial navigation

Entropy based keyframe selection for Multi-Camera Visual SLAM

Good feature for framing: Saliency-based Gaussian Mixture

Robust visual odometry to irregular illumination changes with RGB-D camera

Adaptive visual trajectory tracking of nonholonomic mobile robots based on trifocal tensor

Bridging text spotting and SLAM with junction features

Global localization by soft object recognition from 3D Partial Views

Set-membership approach to the kidnapped robot problem

A dependence maximization approach towards street map-based localization

Motion planning and control of a robotic system for orthodontic archwire bending

An efficient pose estimation for limited-resourced MAVs using sufficient statistics

Accurate localization with respect to moving objects via multiple-body registration

Probe suspension mechanism design for nano machining system

A joystick interface for tongue operation with adjustable reaction force feedback

Dynamic modeling of a 2D compliant link for safety evaluation in human-robot interactions

The design of arm linkages with decoupled dynamics taking into account the changing payload

A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots

Design of back-drivable joint mechanism for in-pipe robot

Medical applicability of a low-cost industrial robot arm guided with an optical tracking system

Softness measurement by forceps-type tactile sensor using acoustic reflection

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots

Towards a SMA-actuated Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) robot

Effects of micro-vibratory modulation during robot-assisted membrane peeling

Design and control of robotic exoskeleton with balance stabilizer mechanism

Multi-objective cost-to-go functions on robot navigation in dynamic environments

Online robotic adversarial coverage

Stochastic Ensemble Simulation motion planning in stochastic dynamic environments

Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization

Using n-grams of spatial densities to construct maps

Adaptive motor patterns and reflexes for bipedal locomotion on rough terrain

Mixing of solid propellant by peristaltic pump based on bowel peristalsis

Development of seabed excavation robot with peristaltic crawling

Introducing MantisBot: Hexapod robot controlled by a high-fidelity, real-time neural simulation

Hydrodynamic function of a robotic fish caudal fin: Effect of kinematics and flow speed

Row-bot: An energetically autonomous artificial water boatman

Understanding function of gluteus medius in human walking from constructivist approach

High-speed 3D sensing with three-view geometry using a segmented pattern

Contextual classification of 3D laser points with conditional random fields in urban environments

Real-time tracking of 3D elastic objects with an RGB-D sensor

Convex Cut: A realtime pseudo-structure extraction algorithm for 3D point cloud data

Fast and accurate normal estimation by efficient 3d edge detection

Omnidirectional visual obstacle detection using embedded FPGA

Variance modulated task prioritization in Whole-Body Control

Whole-body holding manipulation by humanoid robot based on transition graph of object motion and contact

Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots

A general whole-body compliance framework for humanoid robots

Running with lower-body robot that mimics joint stiffness of humans

COM motion estimation of a Humanoid robot based on a fusion of dynamics and kinematics information

Reactive whole-body control for humanoid balancing on non-rigid unilateral contacts

Optimal control with state and command limits for a simulated ball batting task

Uncertainty-dependent optimal control for robot control considering high-order cost statistics

Carrying heavy payload with limited sensory information using high order disturbance observer

Projected inverse dynamics control and optimal control for robots in contact with the environment: A comparison

Nonlinear control of a nano-hexacopter carrying a manipulator arm

Novel steering profile for efficient trajectory planning

On the Dubins Traveling Salesman Problem with Neighborhoods

Feedback motion planning via non-holonomic RRT* for mobile robots

Robotic needle threading manipulation based on high-speed motion strategy using high-speed visual feedback

A dual quaternion linear-quadratic optimal controller for trajectory tracking

Motion planning for a pendulum-driven rolling robot tracing spherical contact curves

Human-pose estimation with neural-network realization

Recognizing complex mental states with deep hierarchical features for Human-Robot Interaction

On equitably approaching and joining a group of interacting humans

Determining natural and accessible gestures using uncontrolled manifolds and cybernetics

Quantifying anthropomorphism of robot arms

The effect of the choice of feedforward controllers on the accuracy of low gain controlled robots

Design and control of a micro ball-balancing robot (MBBR) with orthogonal midlatitude omniwheel placement

Dynamic modeling of the RPC-manipulator with prismatic or revolute joint actuation for different frame configurations

Passive dynamic walking of compass-like biped robot on slippery downhill

Model driven design for flexure-based Microrobots

A general analytical procedure for robot dynamic model reduction

Online path tracking and motion optimization of a 4WS4WD vehicle

Kinematic analysis and singularity robust path control of a non-holonomic mobile platform with several steerable driving wheels

The Tri-Wheel: A novel wheel-leg mobility concept

Modeling paddle-aided stair-climbing for a mobile robot based on eccentric paddle mechanism

Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment

A transformable wheel robot with a passive leg

Designing an artificial attention system for social robots

Attractor representations of language-behavior structure in a recurrent neural network for human-robot interaction

An user-independent gesture recognition method based on sEMG decomposition

Explicit representation of social norms for social robots

An ontology for CAD data and geometric constraints as a link between product models and semantic robot task descriptions

Procedural semantics for autonomous robots - a case study in locative spatial language

Audio-visual scene understanding utilizing text information for a cooking support robot

Utilizing visual cues in robot audition for sound source discrimination in speech-based human-robot communication

Bilateral teleoperation of a dual arms surgical robot with passive virtual fixtures generation

A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks

On the parameterization of feasible admittance matrices in delayed bilateral teleoperation

Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation

Human motion classification and recognition using wholebody contact force

Automated selection of spatial object relations for modeling and recognizing indoor scenes with hierarchical Implicit Shape Models

Applying probabilistic Mixture Models to semantic place classification in mobile robotics

sEMG-based decoding of detailed human intentions from finger-level hand motions

Surface Oriented Traverse for robust instance detection in RGB-D

Re-emission and satellite aerial maps applied to vehicle localization on urban environments

Monte Carlo localization in hand-drawn maps

On the performance of ConvNet features for place recognition

Extending a UGV teleoperation FLC interface with wireless network connectivity information

Detection of localization failure using logistic regression

Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception

Switchable magnets for robotics applications

Design and analysis of an under-actuated XYθ stage for automated tissue indentation

A passive mechanism for relocating payloads with a quadrotor

R-Mo: A new mobile robotic platform to reduce variations in height and pitch angle on rugged terrain

The design and control of the multi-modal locomotion origami robot, Tribot

On the inverse kinematics of cable-driven parallel robots with up to 6 sagging cables

Automatic laser ablation control algorithm for an novel endoscopic laser ablation end effector for precision neurosurgery

A flexible architecture to enhance wearable robots: Integration of EMG-informed models

Extended bicycle model for needle steering in soft tissue

Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning

An optimized field function scheme for nanoparticle guidance in magnetic drug targeting systems

Responsive fingers — capacitive sensing during object manipulation

Probabilistic graph based spatial assembly relation inference for programming of assembly task by demonstration

Multi-contour initial pose estimation for 3D registration

Generating multi-fingered robotic grasps via deep learning

Detection and fine 3D pose estimation of texture-less objects in RGB-D images

Axiomatic particle filtering for goal-directed robotic manipulation

Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system

Landmark-based navigation in large-scale outdoor environments

A generative spectral model for semantic mapping of buildings

Gaussian processes for magnetic map-based localization in large-scale indoor environments

Real-time and scalable incremental segmentation on dense SLAM

Incremental reconstruction of urban environments by Edge-Points Delaunay triangulation

A bi-level nonlinear predictive control scheme for hopping robots with hip and tail actuation

Developing an embodied gait on a compliant quadrupedal robot

From one-legged hopping to bipedal running and walking: A unified foot placement control based on regression analysis

A new foot sole design for humanoids robots based on viscous air damping mechanism

Experience-based adaptation of locomotion behaviors for kinematically complex robots in unstructured terrain

CORE: A Cloud-based Object Recognition Engine for robotics

Cloud robotics paradigm for enhanced navigation of autonomous vehicles in real world industrial applications

A remote navigation system for a simple tele-presence robot with virtual reality

Robot Web Tools: Efficient messaging for cloud robotics

Cooperative pursue in pursuit-evasion games with unmanned aerial vehicles

Path planning for optimizing survivability of multi-robot formation in adversarial environments

Control of time-varying delayed teleoperation system using corrective wave variables

A new passivity-based control technique for safe patient-robot interaction in haptics-enabled rehabilitation systems

Parameter estimation and anomaly detection while cutting insulation during telerobotic satellite servicing

Telemanipulation with force-based display of proximity fields

Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Interactive affordance map building for a robotic task

Learning optimal striking points for a ping-pong playing robot

Concept formation by robots using an infinite mixture of models

Simultaneously learning at different levels of abstraction

Learning multiple behaviours using hierarchical clustering of rewards

A platform for the direct hardware evolution of quadcopter controllers

Towards multi-robot active collaborative state estimation via belief space planning

Learning to trick cost-based planners into cooperative behavior

Multi-robot navigation in formation via sequential convex programming

Multiscale observation of multiple moving targets using Micro Aerial Vehicles

An active vision approach to the road following problem

Path planning for a tethered robot using Multi-Heuristic A* with topology-based heuristics

Modelling the safety of a semi-autonomous wheelchair

Seizing failure-tolerant differential redundant drive mechanism and control technique for two-wheeled, self-balancing vehicle

Control of robots sharing their workspace with humans: An energetic approach to safety

Active safety control for dynamic human-robot interaction

Visibility reduction based performance evaluation of vision-based safety sensors

Active fault-tolerant control for quadrotors subjected to a complete rotor failure

A two-speed actuator for robotics with fast seamless gear shifting

A novel piezohydraulic actuator as artificial muscle in robotic applications

A novel meso-scale SMA-actuated torsion actuator

A high-speed locomotion mechanism using pneumatic hollow-shaft actuators for in-pipe robots

Collision detection for blocking cylindrical objects

Hybrid penetration depth computation using local projection and machine learning

Reciprocal collision avoidance for quadrotors using on-board visual detection

Stochastic automatic collision avoidance for tele-operated unmanned aerial vehicles

Improving MAV control by predicting aerodynamic effects of obstacles

Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed

Robot audition based Acoustic Event Identification using a Bayesian model considering spectral and temporal uncertainties

Audio augmented point clouds for applications in robotics

Towards cooperation of underwater vehicles: A Leader-Follower scheme using vision-based implicit communications

Decentralized multi-vehicle dynamic pursuit using acoustic TDOA measurements

Design of a maneuverable swimming robot for in-pipe missions

Ethologically inspired reactive exploration of coral reefs with collision avoidance: Bridging the gap between human and robot spatial understanding of unstructured environments

Depth-augmented Deformable Parts Models for RGBD person detection on embedded GPUs

Development of gait measurement robot using laser range sensor for evaluating long-distance walking ability in the elderly

Classification of motor stereotypies in video

Indoor trajectory identification: Snapping with uncertainty

HOOD: A real environment Human Odometry Dataset for wearable sensor placement analysis

Pose estimation for a partially observable human body from RGB-D cameras

3D path planning with continuous bounded curvature and pitch angle profiles using 7th order curves

Trajectory smoothing using jerk bounded shortcuts for service manipulator robots

Real-time trajectory synthesis for information maximization using Sequential Action Control and least-squares estimation

Metric cells: Towards complete search for optimal trajectories

Generating manipulation trajectory using motion harmonics

Adaptive local scanning: A comprehensive and intelligent method for fast scanning of indiscrete objects

Closed form characterization of collision free velocities and confidence bounds for non-holonomic robots in uncertain dynamic environments

A sensorimotor approach for self-learning of hand-eye coordination

Information-theoretic occupancy grid compression for high-speed information-based exploration

Correct-by-synthesis reinforcement learning with temporal logic constraints

Modular task and motion planning in belief space

Augmented reality on robot navigation using non-central catadioptric cameras

Development and evaluation of an MRI compatible finger rehabilitation device for stroke patients

Automatically characterizing driving activities onboard smart wheelchairs from accelerometer data

Learning motor control parameters for motion strategy analysis of Parkinson's disease patients

A walking support robot with velocity, torque, and contact force-based mechanical safety devices

Intention detection in upper limb kinematics rehabilitation using a GP-based control strategy

Using common spatial pattern algorithm for unsupervised real-time estimation of fingertip forces from sEMG signals

Transparent object recognition and retrieval for robotic bio-laboratory automation applications

Hand parsing for fine-grained recognition of human grasps in monocular images

A comparative study of contact models for contact-aware state estimation

Stabilizing novel objects by learning to predict tactile slip

Unplanned, model-free, single grasp object classification with underactuated hands and force sensors

On the development of a tactile sensor for fabric manipulation and classification for industrial applications

Real-time point cloud compression

Multi-robot 6D graph SLAM connecting decoupled local reference filters

Obstacle detection for self-driving cars using only monocular cameras and wheel odometry

Hybrid metric-topological-semantic mapping in dynamic environments

Information-theoretic dialog to improve spatial-semantic representations

Improving LiDAR point cloud classification using intensities and multiple echoes

Dynamic trotting on slopes for quadrupedal robots

On the control of gait transitions in quadrupedal running

SPEAR: A monopedal robot with Switchable Parallel Elastic actuation

Gait design and gain-scheduled balance controller of an under-actuated robotic platform

Knee joint mechanism that mimics elastic characteristics and bending in human running

Tripedal walking robot with fixed coxa driven by radially stretchable legs

Implicit adaptive multi-robot coordination in dynamic environments

Robot action plans that form and maintain expectations

Online heterogeneous multiagent learning under limited communication with applications to forest fire management

Tight analysis of a collisionless robot gathering algorithm

Multi-robot taboo-list exploration of unknown structured environments

Towards robots conducting chemical experiments

Higher order sliding mode based impedance control for dual-user bilateral teleoperation under unknown constant time delay

Stable bilateral teleoperation with input-to-state stable approach

Dynamic authority distribution for cooperative teleoperation

Position and stiffness bounding approach for geometry transparency in time-delayed teleoperations

Bilateral human-robot control for semi-autonomous UAV navigation

A haptic shared control algorithm for flexible human assistance to semi-autonomous robots

On the performance of hierarchical distributed correspondence graphs for efficient symbol grounding of robot instructions

An upper bound on the error of alignment-based Transfer Learning between two linear, time-invariant, scalar systems

Self-improvement of learned action models with learned goal models

Learning from multiple demonstrations using trajectory-aware non-rigid registration with applications to deformable object manipulation

Apprenticeship learning based on inconsistent demonstrations

Anytime planning of optimal schedules for a mobile sensing robot

A decision-theoretic planning approach for multi-robot exploration and event search

POMDP to the Rescue: Boosting Performance for Robocup Rescue

Planning for serendipity

Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids

Inferring door locations from a teammate's trajectory in stealth human-robot team operations

On-line control of continuous walking of wearable robot coordinating with user's voluntary motion

Online gait task recognition algorithm for hip exoskeleton

EMY: a dual arm exoskeleton dedicated to the evaluation of Brain Machine Interface in clinical trials

Development and experimental testing of a portable hand exoskeleton

Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage

Introduction and initial exploration of an Active/Passive Exoskeleton framework for portable assistance

Towards bridging the reality gap between tensegrity simulation and robotic hardware

Inducement of visual attention using augmented reality for multi-display systems in advanced tele-operation

Learning action failure models from interactive physics-based simulations

Computational modeling of N-body collisions

Mixed reality for robotics

Adaptive integration for controlling speed vs. accuracy in multi-rigid body simulation

Personal robot assisting transportation to support active human life

Adaptive image-based positioning of RCM mechanisms using angle and distance features

A robust nonlinear controller for nontrivial quadrotor maneuvers: Approach and verification

A repetitive control scheme for industrial robots based on b-spline trajectories

Robust position control of a novel series elastic actuator via disturbance observer

An on-line gravity estimation method using inverse gravity regressor for robot manipulator control

A practical and effective method for identifying the complete inertia parameters of space robots

Ground-based experiments towards the interception of non-cooperative space debris with a robotic manipulator

Robotic test bench for CubeSat ground testing: Concept and satellite dynamic parameter identification

Segmented control for retrieval of space debris after captured by Tethered Space Robot

Planetary soil classification based on the analysis of the interaction with deformable terrain of a wheel-legged robot

Multipoint-contact attitude control of non-cooperative spacecraft with parameter estimation

Image-Based Control of Two Mobile Robots for Object Pushing

Visual servoing with safe interaction using image moments

Photometric Gaussian mixtures based visual servoing

A robust self triggered Image Based Visual Servoing Model Predictive Control scheme for small autonomous robots

Vision-based high-speed manipulation for robotic ultra-precise weed control

Off-line path correction of robotic face milling using static tool force and robot stiffness

Motion planning of continuum tubular robots based on centerlines extracted from statistical atlas

Kinematic-free position control of a 2-DOF planar robot arm

A recursive Newton-Euler algorithm for robots with elastic joints and its application to control

Automatic testing and minimax optimization of system parameters for best worst-case performance

Obstacle surmounting by arm maneuver for unmanned power shovel

Optimizing the layout of multiple mobile robots for cooperative sound source separation

Audio-visual beat tracking based on a state-space model for a music robot dancing with humans

Simultaneous asynchronous microphone array calibration and sound source localisation

Sound-based control with two microphones

Speech activity detection and face orientation estimation using multiple microphone arrays and human position information

Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot

Gait analysis for challenged users based on a rollator equipped with force sensors

A human-robot interaction modeling approach for hand rehabilitation exoskeleton using biomechanical technique

Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph

Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis

Design of CASIA-ARM: A novel rehabilitation robot for upper limbs

A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories

Robotic origami folding with dynamic motion primitives

An under-actuated manipulation controller based on Workspace Analysis and Gaussian Processes

In-hand manipulation using gravity and controlled slip

Unknown object manipulation based on tactile information

Realization of flower stick rotation using robotic arm

On task-decoupling by robust eigenstructure assignment for dexterous manipulation

Map merging using cycle consistency check and RANSAC-based spanning tree selection

Submap matching for stereo-vision based indoor/outdoor SLAM

Unsupervised learning of spatial-temporal models of objects in a long-term autonomy scenario

DPPTAM: Dense piecewise planar tracking and mapping from a monocular sequence

Dynamic obstacles detection and 3D map updating

Robust environment mapping using flux skeletons

Development of quadruped walking robot with spherical shell-mechanical design for rotational locomotion

Leg design for energy management in an electromechanical robot

Dynamic similarity and scaling for the design of dynamical legged robots

Feedback control of a legged microrobot with on-board sensing

Reactive trotting with foot placement corrections through visual pattern classification

FMCH: A new model for human-like postural control in walking

Long-term human affordance maps

Designing information gathering robots for human-populated environments

Communicating robotic navigational intentions

A conceptual model of personal space for human-aware robot activity placement

Improving human-in-the-loop decision making in multi-mode driver assistance systems using hidden mode stochastic hybrid systems

Models of human-centered automation in a debridement task

Decentralized leader-follower control under high level goals without explicit communication

Optimal exploration in unknown environments

Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control

A class of non-linear time scaling functions for smooth time optimal control along specified paths

Bayesian intention inference for trajectory prediction with an unknown goal destination

Robust learning of tensegrity robot control for locomotion through form-finding

Dual-mode twisting actuation mechanism with an active clutch for active mode-change and simple relaxation process

A novel variable transmission with digital hydraulics

Novel infinitely Variable Transmission allowing efficient transmission ratio variations at rest

Design of low inertia manipulator with high stiffness and strength using tension amplifying mechanisms

Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses

A micro spherical rolling and flying robot

An event-driven control to achieve adaptive walking assist with gait primitives

Efficient algorithms for Next Best View evaluation

A heuristic approach for a social robot to navigate to a person based on audio and range information

Transmissive optical pretouch sensing for robotic grasping

Highly stretchable optical sensors for pressure, strain, and curvature measurement

Encountered-type haptic interface for virtual interaction with real objects based on implicit surface haptic rendering for remote palpation

Imitation-based control of automated ore excavator to utilize human operator knowledge of bedrock condition estimation and excavating motion selection

Knot-tying with flying machines for aerial construction

Simultaneous determination of an optimal unloading point and paths between scooping points and the unloading point for a wheel loader

Low-profile crawling for humanoid motion in tight spaces

Flutter suppression of a bridge section model endowed with actively controlled flap arrays

Robot-assisted acoustic inspection of infrastructures - cooperative hammer sounding inspection

Feedforward friction compensation of Bowden-cable transmission via loop routing

Projected PID controller for Tendon-Driven Manipulators actuated by magneto-rheological clutches

A sensor-driver integrated muscle module with high-tension measurability and flexibility for tendon-driven robots

A novel constrained tendon-driven serpentine manipulator

Stiffness characteristics of new modular type antagonistic tendon-driven joint systems

Towards an imperfect robot for long-term companionship: case studies using cognitive biases

Proxemics and performance: Subjective human evaluations of autonomous sociable robot distance and social signal understanding

Robot companion for domestic health assistance: Implementation, test and case study under everyday conditions in private apartments

Folding deformable objects using predictive simulation and trajectory optimization

A novel approach based on commonsense knowledge representation and reasoning in open world for intelligent ambient assisted living services

Navigating blind people with a smart walker

Nonlinear modeling for a class of nano-robotic systems using piezoelectric stick-slip actuators

Micropositioning of 2DOF piezocantilever: LKF compensation of parasitic disturbances

Mechanical characterization system of cyanobacteria using a robot integrated microdluidic chip

Adaptability analysis, evaluation and regulation of compliant underactuated mechanisms

High-speed image rotator for blur-canceling roll camera

Path tracking by a mobile robot equipped with only a downward facing camera

Generic edgelet-based tracking of 3D objects in real-time

Visual guided adaptive robotic interceptions with occluded target motion estimations

Semi-direct EKF-based monocular visual-inertial odometry

Real-time and model-free object tracking using particle filter with Joint Color-Spatial Descriptor

Mutual information-based exploration on continuous occupancy maps

A localization aware sampling strategy for motion planning under uncertainty

AuRoSS: An Autonomous Robotic Shelf Scanning system

Maximum likelihood tracking of a personal dead-reckoning system

A drift-diffusion model for robotic obstacle avoidance

Dynamic and probabilistic estimation of manipulable obstacles for indoor navigation

Robot-Audition-based Human-Machine Interface for a Car

Interactive sound source localization using robot audition for tablet devices

Design model of microphone arrays for multirotor helicopters

Time difference of arrival estimation based on binary frequency mask for sound source localization on mobile robots

Rospeex: A cloud robotics platform for human-robot spoken dialogues

An open platform of auditory perception for home service robots

Preliminary feasibility study of the H-Man planar robot for quantitative motor assessment

A biomechatronic Extended Physiological Proprioception (EPP) controller for upper-limb prostheses

Single joint movement decoding from EEG in healthy and incomplete spinal cord injured subjects

Starting and finishing gait detection using a BMI for spinal cord injury rehabilitation

Adaptive walking assistance based on human-orthosis interaction

A realtime locomotion mode recognition method for an active pelvis orthosis

In-air Knotting of Rope by a Dual-arm Multi-finger Robot

MOPL: A multi-modal path planner for generic manipulation tasks

Prehensile pushing: In-hand manipulation with push-primitives

Iterative learning control for whole-arm object manipulation through coordination of torque/velocity-controlled fingers

Dexterous dynamic optimal grasping of a circular object with pose regulation using redundant robotic soft-fingertips

Development of a pneumatic-electromagnetic hybrid linear actuator with an integrated structure

Multi-scale conditional transition map: Modeling spatial-temporal dynamics of human movements with local and long-term correlations

A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving

Dense accurate urban mapping from spherical RGB-D images

Mapping with depth panoramas

A framework for aerial inspection of siltation in waterways

A fast cost-to-go map approximation algorithm on known large scale rough terrains

State estimation for a hexapod robot

TriBot: A minimally-actuated accessible holonomic hexapedal locomotion platform

Trunk stabilization of multi-legged robots using on-line learning via a NARX neural network compensator

Tail-assisted rigid and compliant legged leaping

Underactuated rimless wheel with small passive rollers aiming at verification experiment for sliding limit cycle walking

Toward a virtual neuromuscular control for robust walking in bipedal robots

A novel step climbing strategy for a wheelchair with active-caster add-on mechanism

Modeling and control of a novel home-based cable-driven parallel platform robot: PACER

The SoftGait: A simple and powerful weight-support device for walking and squatting

Hidden markov modeling of human pathological gait using laser range finder for an assisted living intelligent robotic walker

Minimum sweeping area motion planning for flexible serpentine surgical manipulator with kinematic constraints

Step-climbing wheelchair with lever propelled rotary legs

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

Backward-forward search for manipulation planning

Effective robot teammate behaviors for supporting sequential manipulation tasks

Planning representations and algorithms for prehensile multi-arm manipulation

Motion planning for redundant manipulators in uncertain environments based on tactile feedback

Humanoid full-body manipulation planning with multiple initial guesses and key postures

Settling time reduction for underactuated walking robots

Interactive learning for sensitivity factors of a human-powered augmentation lower exoskeleton

Multiple task optimization with a mixture of controllers for motion generation

Safe robot execution in model-based reinforcement learning

Reinforcement learning vs human programming in tetherball robot games

Learning compound multi-step controllers under unknown dynamics

A solution to the service agent transport problem

A novel distributed scheduling algorithm for time-critical multi-agent systems

Online task merging with a hierarchical hybrid task planner for mobile service robots

The HATP hierarchical planner: Formalisation and an initial study of its usability and practicality

Planning handovers involving humans and robots in constrained environment

Using structural bootstrapping for object substitution in robotic executions of human-like manipulation tasks

Reasoning-based vision recognition for agricultural humanoid robot toward tomato harvesting

Computational approaches for improving the performance of path tracking controllers for mobile robots

3D Sensor planning framework for leaf probing

Improvement of environmental adaptivity of defect detector for hammering test using boosting algorithm

Novel method of estimating surface condition for tiny mobile robot to improve locomotion performance

Automation solutions for the evaluation of plant health in corn fields

Robotic agents capable of natural and safe physical interaction with human co-workers

Compliant manipulators on graphs

Variable stiffness control for oscillation damping

Development of a backdrivable magnetorheological hydraulic piston for passive and active linear actuation

A systematic approach to experimental modeling and assessment of elastic actuators by component-wise parameter identification

Control and evaluation of series elastic actuators with nonlinear rubber springs

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

IEEE/RSJ International Conference on Intelligent Robots and Systems

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

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Self-improvement of learned action models with learned goal models

Content Provider	IEEE Xplore Digital Library
Author	Akgun, B. Thomaz, A.L.
Copyright Year	2015
Abstract	We introduce a new method for robots to further improve upon skills acquired through Learning from Demonstration. Previously, we have introduced a method to learn both an action model to execute the skill and a goal model to monitor the execution of the skill. In this paper we show how to use the learned goal models to improve the learned action models autonomously, without further user interaction. Trajectories are sampled from the action model and executed on the robot. The goal model then labels them as success or failure and the successful ones are used to update the action model. We introduce an adaptive sampling method to speed up convergence. We show through both simulation and real robot experiments that our method can fix a failed action model.
Starting Page	5259
Ending Page	5264
File Size	1338616
Page Count	6
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7354119
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hidden Markov models Adaptation models Monitoring Robot sensing systems Trajectory Data models
Content Type	Text
Resource Type	Article

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