Related papers: Forward and Inverse Kinematics Seamless Matching U…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
We present a novel animatable 3D Gaussian model for rendering high-fidelity free-view human motions in real time. Compared to existing NeRF-based methods, the model owns better capability in synthesizing high-frequency details without the…
This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
The number and relative placement of BPMs and steerers with respect to the quadrupoles in a circular lattice can lead to degeneracy in the context of inverse modeling of accelerator optics. Further, the measurement uncertainties introduced…
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…
Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…
This paper addresses the problem of single view 3D human reconstruction. Recent implicit function based methods have shown impressive results, but they fail to recover fine face details in their reconstructions. This largely degrades user…
This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC…
Generating forward-backward self-representation leg animation in virtual environments for walking-in-place (WIP) techniques is an underexplored research topic. A challenging aspect of the problem is to find an appropriate mapping from…
3D Gaussians, as a low-level scene representation, typically involve thousands to millions of Gaussians. This makes it difficult to control the scene in ways that reflect the underlying dynamic structure, where the number of independent…
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better…
This paper introduces a closed-form analytical solution for the inverse kinematics (IK) of a 6 Degrees of Freedom (DOF) serial robotic manipulator arm, configured with six revolute joints and utilized within the Lunar Exploration Rover…
This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of…
Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms is challenged due to the increased constraint complexity.…
We propose a Few-shot Learning pipeline for 3D skeleton-based action recognition by Joint tEmporal and cAmera viewpoiNt alIgnmEnt (JEANIE). To factor out misalignment between query and support sequences of 3D body joints, we propose an…
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do…