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2024Suction cups are popular for picking and transporting packages in warehouse applications. To maximize throughput, high transport speeds are desired. Many packages are deformable and may detach from the suction cups due to inertial loading if trajectories use excessive velocities. This paper introduces a novel methodology that analyzes package deformation through its curvature at the package-suction cup
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2024This paper addresses the failure detection and recovery problem in visual-inertial based Simultaneous Localization and Mapping (SLAM) systems for large-scale indoor environments. Camera and Inertial Measurement Unit (IMU) are popular choices for SLAM in many robotics tasks (e.g., navigation) due to their complementary sensing capabilities and low cost. However, vision has inherent challenges even in well-lit
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IEEE Sensors2024Continuous back posture monitoring and correction can help to prevent back pains associated with improper back postures. However, existing solutions are expensive, use wearable sensors which usually require regular maintenance, or use cameras which have privacy issues. We introduce Di-Angle, a low-cost, battery-free, and reusable sensor capable of monitoring harmful back angles with high accuracy. Our novel
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2024This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions in a reproducing kernel Hilbert space (RKHS), leveraging SE(3)-equivariant features for direct feature space registration. A novel RKHS distance metric is proposed, offering reliable performance amidst noise, outliers, and asymmetrical
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IEEE Robotics and Automation Letters2024Home robots intend to make their users lives easier. Our work moves toward more helpful home robots by enabling them to inform their users of dangerous or unsanitary anomalies in the home. Some examples of these anomalies include the user leaving their milk out, forgetting to turn off the stove, or leaving poison accessible to children. To enable home robots with these abilities, we have created a new dataset
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