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<button class="button is-small is-link">Go</button> </div> </div> </form> </div> </div> <ol class="breathe-horizontal" start="1"> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2406.00002">arXiv:2406.00002</a> <span> [<a href="https://arxiv.org/pdf/2406.00002">pdf</a>, <a href="https://arxiv.org/format/2406.00002">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Graphics">cs.GR</span> </div> </div> <p class="title is-5 mathjax"> VR Isle Academy: A VR Digital Twin Approach for Robotic Surgical Skill Development </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Filippidis%2C+A">Achilleas Filippidis</a>, <a href="/search/cs?searchtype=author&query=Marmaras%2C+N">Nikolaos Marmaras</a>, <a href="/search/cs?searchtype=author&query=Maravgakis%2C+M">Michael Maravgakis</a>, <a href="/search/cs?searchtype=author&query=Plexousaki%2C+A">Alexandra Plexousaki</a>, <a href="/search/cs?searchtype=author&query=Kamarianakis%2C+M">Manos Kamarianakis</a>, <a href="/search/cs?searchtype=author&query=Papagiannakis%2C+G">George Papagiannakis</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2406.00002v2-abstract-short" style="display: inline;"> Contemporary progress in the field of robotics, marked by improved efficiency and stability, has paved the way for the global adoption of surgical robotic systems (SRS). While these systems enhance surgeons' skills by offering a more accurate and less invasive approach to operations, they come at a considerable cost. Moreover, SRS components often involve heavy machinery, making the training proce… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2406.00002v2-abstract-full').style.display = 'inline'; document.getElementById('2406.00002v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2406.00002v2-abstract-full" style="display: none;"> Contemporary progress in the field of robotics, marked by improved efficiency and stability, has paved the way for the global adoption of surgical robotic systems (SRS). While these systems enhance surgeons' skills by offering a more accurate and less invasive approach to operations, they come at a considerable cost. Moreover, SRS components often involve heavy machinery, making the training process challenging due to limited access to such equipment. In this paper we introduce a cost-effective way to facilitate training for a simulator of a SRS via a portable, device-agnostic, ultra realistic simulation with hand tracking and feet tracking support. Error assessment is accessible in both real-time and offline, which enables the monitoring and tracking of users' performance. The VR application has been objectively evaluated by several untrained testers showcasing significant reduction in error metrics as the number of training sessions increases. This indicates that the proposed VR application denoted as VR Isle Academy operates efficiently, improving the robot - controlling skills of the testers in an intuitive and immersive way towards reducing the learning curve at minimal cost. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2406.00002v2-abstract-full').style.display = 'none'; document.getElementById('2406.00002v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 1 July, 2024; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 4 May, 2024; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> June 2024. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">10 pages, 14 figures, Acknowledgement Section updated</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2304.00804">arXiv:2304.00804</a> <span> [<a href="https://arxiv.org/pdf/2304.00804">pdf</a>, <a href="https://arxiv.org/format/2304.00804">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Argiropoulos%2C+D">Despina-Ekaterini Argiropoulos</a>, <a href="/search/cs?searchtype=author&query=Papageorgiou%2C+D">Dimitrios Papageorgiou</a>, <a href="/search/cs?searchtype=author&query=Maravgakis%2C+M">Michael Maravgakis</a>, <a href="/search/cs?searchtype=author&query=Drosakis%2C+D">Drosakis Drosakis</a>, <a href="/search/cs?searchtype=author&query=Trahanias%2C+P">Panos Trahanias</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2304.00804v1-abstract-short" style="display: inline;"> Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the supporting surface, while maintaining its stability and controllability. In order to ensure the operation of the robot under these conditions, one has to accou… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2304.00804v1-abstract-full').style.display = 'inline'; document.getElementById('2304.00804v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2304.00804v1-abstract-full" style="display: none;"> Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the supporting surface, while maintaining its stability and controllability. In order to ensure the operation of the robot under these conditions, one has to account for the possibility of unstable contact of the legs that arises when the robot operates on partially or globally slippery terrains. In this work, we propose an adaptive trajectory tracking controller for quadruped robots, which involves two prioritized layers of adaptation for avoiding possible slippage of one or multiple legs. The adaptive framework is evaluated through simulations and validated through experiments. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2304.00804v1-abstract-full').style.display = 'none'; document.getElementById('2304.00804v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 3 April, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> April 2023. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2303.00538">arXiv:2303.00538</a> <span> [<a href="https://arxiv.org/pdf/2303.00538">pdf</a>, <a href="https://arxiv.org/format/2303.00538">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Probabilistic Contact State Estimation for Legged Robots using Inertial Information </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Maravgakis%2C+M">Michael Maravgakis</a>, <a href="/search/cs?searchtype=author&query=Argiropoulos%2C+D">Despina-Ekaterini Argiropoulos</a>, <a href="/search/cs?searchtype=author&query=Piperakis%2C+S">Stylianos Piperakis</a>, <a href="/search/cs?searchtype=author&query=Trahanias%2C+P">Panos Trahanias</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2303.00538v2-abstract-short" style="display: inline;"> Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging problem and is typically addressed by exploiting force measurements, joint encoders and/or robot kinematics and dynamics. In contrast to most state of the art approac… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2303.00538v2-abstract-full').style.display = 'inline'; document.getElementById('2303.00538v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2303.00538v2-abstract-full" style="display: none;"> Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging problem and is typically addressed by exploiting force measurements, joint encoders and/or robot kinematics and dynamics. In contrast to most state of the art approaches, the current work introduces a novel probabilistic method for estimating the contact state based solely on proprioceptive sensing, as it is readily available by Inertial Measurement Units (IMUs) mounted on the robot's end effectors. Capitalizing on the uncertainty of IMU measurements, our method estimates the probability of stable contact. This is accomplished by approximating the multimodal probability density function over a batch of data points for each axis of the IMU with Kernel Density Estimation. The proposed method has been extensively assessed against both real and simulated scenarios on bipedal and quadrupedal robotic platforms such as ATLAS, TALOS and Unitree's GO1. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2303.00538v2-abstract-full').style.display = 'none'; document.getElementById('2303.00538v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 4 March, 2023; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 1 March, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> March 2023. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">Accepted for publication at ICRA 2023, 7 pages, 10 figures</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2208.00278">arXiv:2208.00278</a> <span> [<a href="https://arxiv.org/pdf/2208.00278">pdf</a>, <a href="https://arxiv.org/format/2208.00278">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Artificial Intelligence">cs.AI</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Machine Learning">cs.LG</span> </div> </div> <p class="title is-5 mathjax"> Robust Contact State Estimation in Humanoid Walking Gaits </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Piperakis%2C+S">Stylianos Piperakis</a>, <a href="/search/cs?searchtype=author&query=Maravgakis%2C+M">Michael Maravgakis</a>, <a href="/search/cs?searchtype=author&query=Kanoulas%2C+D">Dimitrios Kanoulas</a>, <a href="/search/cs?searchtype=author&query=Trahanias%2C+P">Panos Trahanias</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2208.00278v1-abstract-short" style="display: inline;"> In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contact). The proposed framework employs solely proprioceptive sensing and although it relies on simulated… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2208.00278v1-abstract-full').style.display = 'inline'; document.getElementById('2208.00278v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2208.00278v1-abstract-full" style="display: none;"> In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contact). The proposed framework employs solely proprioceptive sensing and although it relies on simulated ground-truth contact data for the classification process, we demonstrate that it generalizes across varying friction surfaces and different legged robotic platforms and, at the same time, is readily transferred from simulation to practice. The framework is quantitatively and qualitatively assessed in simulation via the use of ground-truth contact data and is contrasted against state of-the-art methods with an ATLAS, a NAO, and a TALOS humanoid robot. Furthermore, its efficacy is demonstrated in base estimation with a real TALOS humanoid. To reinforce further research endeavors, our implementation is offered as an open-source ROS/Python package, coined Legged Contact Detection (LCD). <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2208.00278v1-abstract-full').style.display = 'none'; document.getElementById('2208.00278v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 30 July, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> August 2022. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">7 pages, 5 figures, To be published in International Conference on Intelligent Robots and Systems (IROS 2022)</span> </p> </li> </ol> <div class="is-hidden-tablet">  <span class="help" style="display: inline-block;"><a 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