Related papers: Exp[licit]-A Robot modeling Software based on Expo…

We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In contrast to prior tactile simulators which primarily focus…

Elevation maps are commonly used to represent the environment of mobile robots and are instrumental for locomotion and navigation tasks. However, pure geometric information is insufficient for many field applications that require appearance…

Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…

Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…

An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

Discrete gradient methods are a powerful tool for the time discretization of dynamical systems, since they are structure-preserving regardless of the form of the total energy. In this work, we discuss the application of discrete gradient…

In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

Building differentiable simulations of physical processes has recently received an increasing amount of attention. Specifically, some efforts develop differentiable robotic physics engines motivated by the computational benefits of merging…

We propose topology-aware feature partitioning into $k$ disjoint partitions for given scene features as a method for object-centric representation learning. To this end, we propose to use minimum $s$-$t$ graph cuts as a partitioning method…

Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…

This paper addresses the problem of identifying parsimonious explicit piece-wise polynomial relationships that might involve a relatively large number of raw features. The algorithm leverages a recently proposed identification algorithm…

Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…

Despite the remarkable advancements in deep learning-based perception technologies and simultaneous localization and mapping (SLAM), one can face the failure of these approaches when robots encounter scenarios outside their modeled…

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…

To learn manipulation skills, robots need to understand the features of those skills. An easy way for robots to learn is through Learning from Demonstration (LfD), where the robot learns a skill from an expert demonstrator. While the main…

Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…

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…

This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex…