Related papers: Exp[licit]-A Robot modeling Software based on Expo…
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…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Geometric modeling by constraints, whose applications are of interest to communities from various fields such as mechanical engineering, computer aided design, symbolic computation or molecular chemistry, is now integrated into standard…
The differentiable programming paradigm is a cornerstone of modern scientific computing. It refers to numerical methods for computing the gradient of a numerical model's output. Many scientific models are based on differential equations,…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
In this paper, we explore an approach to actively plan and excite contact modes in differentiable simulators as a means to tighten the sim-to-real gap. We propose an optimal experimental design approach derived from information-theoretic…
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
This article explores some geometric and algebraic properties of the dynamical system which is represented by matrix differential equations arising from inertial navigation problems, such as the symplecticity and the orthogonality.…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
We introduce a subexponential algorithm for geometric solving of multivariate polynomial equation systems whose bit complexity depends mainly on intrinsic geometric invariants of the solution set. From this algorithm, we derive a new…
Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…
We discuss the great importance of using mathematical software in solving problems in today's society. In particular, we show how to use Mathematica software to solve ordinary differential equations exactly and numerically. We also show how…
It is shown in "SIAM J. Sci. Comput. 39 (2017):B424-B441" that free-form curves used in computer aided geometric design can usually be represented as the solutions of linear differential systems and points and derivatives on the curves can…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…