Vision-guided robot for automated pixel-level pavement crack sealing

J Zhang, X Yang, W Wang, H Wang, L Ding… - Automation in …, 2024 - Elsevier
Automated pavement crack sealing plays a crucial role in road maintenance. However,
challenges remain in refining crack segmentation and sealing control accuracy. This article …

[HTML][HTML] Interaction model estimation-based robotic force-position coordinated optimization for rigid-soft heterogeneous contact tasks

H Zheng, X Zhai, H Wu, J Pan, Z Xu, X Zhou - Biomimetic Intelligence and …, 2024 - Elsevier
Abstract Inspired by Model Predictive Interaction Control (MPIC), this paper proposes
differential models for estimating contact geometric parameters and normal-friction forces …

Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation

J Foster, S McCrory, C DeBuys, S Bertrand… - arXiv preprint arXiv …, 2024 - arxiv.org
The ability to accomplish manipulation and locomotion tasks in the presence of significant
time-varying external loads is a remarkable skill of humans that has yet to be replicated …

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

M Elobaid, G Turrisi, L Rapetti, G Romualdi… - arXiv preprint arXiv …, 2024 - arxiv.org
Nonlinear model predictive locomotion controllers based on the reduced centroidal
dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume …