This paper presents a generic model-based methodology for defining and executing robust force-based insertion skills capable of handling geometric uncertainties in robotic assembly tasks with sub-millimiter clearance fits. The approach can deal with geometric variability (i.e. different object shapes), insertions with...
Federico Ulloa Rios, S. Iregui, E. Aertbeliën et al.· 2026 IEEE 22nd International...· 0 citations
Energy-efficient trajectory tracking for surface vessels commonly relies on propulsion power models that neglect inflow, and therefore changes in the propeller operating point. For vessels operating near a single nominal condition this is a reasonable simplification, but for overactuated inland vessels with azimuth thr...
Jef Billet, Yan-Yun Zhang, H. Bruyninckx et al.· Conference on Control Techno...· 0 citations
This paper describes a multi-robot solution for pick-and-place operations, that creates and exploits mechanical constraints to control the payload through interactions. The task requirements are split across a strong, but imprecise, crane and an accurate, but weak, dual-arm manipulator. First, the design of the manipul...
Boris Deroo, Wilm Decré, H. Bruyninckx· 2026 IEEE 22nd International...· 0 citations
HydroMap is proposed, an odometry-decoupled framework that reconstructs water surface elevation from stereo observations and integrates it with the structural map, and complements LiDAR maps with a persistent representation of the water surface for downstream navigation in inland waterways.
Zhong-Bi Luo, Yun-Jia Wang, H. Bruyninckx et al.· 0 citations
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