Related papers: Motion, Unit Dual Quaternion and Motion Optimizati…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots.…
State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide…
More than 150 years after their invention by Hamilton, quaternions are now widely used in the aerospace and computer animation industries to track the paths of moving objects undergoing three-axis rotations. It is shown here that they…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…
Discrete mechanics is used to present fluid mechanics, fluid-structure interactions, electromagnetism and optical physics in a coherent theoretical and numerical approach. Acceleration considered as an absolute quantity is written as a sum…
We analyze combinatorial optimization problems with ordinal, i.e., non-additive, objective functions that assign categories (like good, medium and bad) rather than cost coefficients to the elements of feasible solutions. We review different…
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…
To represent motions from a mechanical point of view, this paper explores motion embedding using the motion taxonomy. With this taxonomy, manipulations can be described and represented as binary strings called motion codes. Motion codes…
Dual quaternions have gained significant attention due to their wide applications in areas such as multi-agent formation control, 3D motion modeling, and robotics. A fundamental aspect in dual quaternion research involves the projection…
Denavit and Hartenberg-based methods, such as Cardan, Fick, and Euler angles, describe the position and orientation of an end-effector in three-dimensional (3D) space. However, these methods have a significant drawback as they impose a…
In this paper, we introduce a generalized dynamical unbalanced optimal transport framework by incorporating limited control input and mass dissipation, addressing limitations in conventional optimal transport for control applications. We…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
We construct the quaternion algebra [10] "geometrically" by a three dimensional analogue of the classic two dimensional geometric description of the complex field. The algebraic description of the multiplication operation in three…
This is a documentation of a framework for robot motion optimization that aims to draw on classical constrained optimization methods. With one exception the underlying algorithms are classical ones: Gauss-Newton (with adaptive step size and…
We present a new method for computing orbits in the perturbed two-body problem: the position and velocity vectors of the propagated object in Cartesian coordinates are replaced by eight orbital elements, i.e., constants of the unperturbed…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
We present the viewpoint that optimization problems encountered in machine learning can often be interpreted as minimizing a convex functional over a function space, but with a non-convex constraint set introduced by model parameterization.…