Related papers: An Automated Conversion Between Selected Robot Kin…
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…
Learned knowledge graph representations supporting robots contain a wealth of domain knowledge that drives robot behavior. However, there does not exist an inference reconciliation framework that expresses how a knowledge graph…
Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
$ $Deriving a robot's equation of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynamic relationships between segments. This paper presents an…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
Accurately modeling the friction torque in robotic joints has long been challenging due to the request for a robust mathematical description. Traditional model-based approaches are often labor-intensive, requiring extensive experiments and…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…
While Product of Exponentials (POE) formula has been gaining increasing popularity in modeling the kinematics of a serial-link robot, the Denavit-Hartenberg (D-H) notation is still the most widely used due to its intuitive and concise…
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.…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…
We give a brief report on our computations of linear determinantal representations of smooth plane cubics over finite fields. After recalling a classical interpretation of linear determinantal representations as rational points on the…
End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end-to-end learning mitigates key limitations such as…
In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…