Research
Research
Research
Research
115+ open-access research outputs.
Accurate dynamic models for racket-ball bounces are essential for reliable control in robotic table tennis. Existing models typically assume simple linear models and are restricted to inverted rubbers…
Low Earth orbit (LEO) satellite downlinks are fundamentally limited by severe channel correlation: the line-of-sight (LoS)-dominant propagation and high orbital altitude confine users to a narrow angu…
This work investigates different sufficient and necessary criteria for hyperelastic, isotropic polyconvex material models, focusing on neural network implementations for compressible and incompressibl…
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are da…
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capab…
Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors on humanoid robots …
In this paper we discuss a classical geometrical problem of estimating an unknown point's location in $\Real{n}$ from several noisy measurements of the Euclidean distances from this point to a set of …
Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body balance control. Existi…
Uncrewed aerial vehicles (UAVs) performing tasks such as transportation and aerial photography are vulnerable to intentional projectile attacks from humans. Dodging such a sudden and fast projectile p…
Practical design and tuning of feedback controllers has to do often without any model of the given dynamic process. Only some general assumptions about the process, in this work type-one stable behavi…
Persistent cost and schedule deviations remain a major challenge in the U.S. construction industry, revealing the limitations of deterministic CPM and static document-based estimating. This study pres…
Marine invasive species spread through global shipping and generate substantial ecological and economic impacts. Traditional risk assessments require detailed records of ballast water and traffic patt…
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, …
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate t…
For electrifying the transportation sector, deploying a strategically planned and efficient charging infrastructure is essential. This paper presents a two-phase approach for electric vehicle (EV) cha…
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space into collision free su…
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot I…
We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significan…
Autonomous vehicles (AVs) are becoming increasingly popular, with their applications now extending beyond just a mode of transportation to serving as mobile actuators of a traffic flow to control flow…
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay…
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