Related papers: An Automated Conversion Between Selected Robot Kin…
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream applications such as simulation, planning, and…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in…
Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains,…
We show how to compute globally optimal solutions to inverse kinematics (IK) by formulating the problem as an indefinite quadratically constrained quadratic program. Our approach makes it feasible to solve IK instances of generic redundant…
Articulated 3D objects play a vital role in realistic simulation and embodied robotics, yet manually constructing such assets remains costly and difficult to scale. In this paper, we present UniArt, a diffusion-based framework that directly…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Model-based 3D pose and shape estimation methods reconstruct a full 3D mesh for the human body by estimating several parameters. However, learning the abstract parameters is a highly non-linear process and suffers from image-model…
Robot manipulators have become a significant tool for production industries due to their advantages in high speed, accuracy, safety, and repeatability. This paper simulates and optimizes the design of a 3-DOF articulated robotic manipulator…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
This paper presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First, linear parameters are computed using a standard linear…
We introduce ART, Articulated Reconstruction Transformer -- a category-agnostic, feed-forward model that reconstructs complete 3D articulated objects from only sparse, multi-state RGB images. Previous methods for articulated object…
Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…
We study data-driven identification of interpretable hybrid robot dynamics, where an analytical rigid-body dynamics model is complemented by a learned residual torque term. Using symbolic regression and sparse identification of nonlinear…
This paper presents analytical solvers for four common types of algebraic equations encountered in robot kinematics: single trigonometric equations, single-angle trigonometric systems, two-angle trigonometric systems, and bilinear two-angle…
We present a framework that, given a set of skills a robot can perform, abstracts sensor data into symbols that we use to automatically encode the robot's capabilities in Linear Temporal Logic. We specify reactive high-level tasks based on…
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…