Non-geometric hazards like sinkage and slipping, correlated to terrain categories, have an
apparent effect on the locomotion of legged robots. Tactile-based terrain classification is a …

The haptic terrain classification is an essential component of a mobile walking robot control
system, ensuring proper gait adaptation to the changing environmental conditions. In …

We propose a dual-stream, semi-supervised, attention-based approach that employs feature
fusion of RGB and Laser Range Finder (LRF) modalities. Our method lever-ages the …

Although haptic sensing has recently been used for legged robot localization in extreme
environments where a camera or LiDAR might fail, the problem of efficiently representing the …

Haptic sensing has recently been used effectively for legged robot localization in extreme
scenarios where cam-eras and LiDAR might fail, such as dusty mines and foggy sewers …

This article presents a method for extracting high-level semantic information through
successful landmark detection using 2D RGB images. In particular, the focus is placed on …

Locomotion mechanics of legged robots are suitable when pacing through difficult terrains.
Recognising terrains for such robots are important to fully yoke the versatility of their …

This letter presents a new tactile sensor that utilizes an array of barometric pressure sensors
encased in a deformable rubber sphere. Designed as an end effector foot of the legged …

The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial
for their deployment in real-world environments. To this end, we present a novel, bio …

Image-guided minimally invasive robotic surgery is commonly employed for tasks such as
needle biopsies or localized therapies. However, the nonlinear deformation of various tissue …