Related papers: IKLink: End-Effector Trajectory Tracking with Mini…
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…
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance…
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…
Combining manipulation with the mobility of legged robots is essential for a wide range of robotic applications. However, integrating an arm with a mobile base significantly increases the system's complexity, making precise end-effector…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
The Circular Economy framework emphasizes sustainability by reducing resource consumption and waste through the reuse of components and materials. This paper presents ReLink, a computational framework for the circular design of planar…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
We introduce ITTO, a challenging new benchmark suite for evaluating and diagnosing the capabilities and limitations of point tracking methods. Our videos are sourced from existing datasets and egocentric real-world recordings, with…
Recent methods for arbitrary-skeleton motion capture from monocular video follow a factorized pipeline, where a Video-to-Pose network predicts joint positions and an analytical inverse-kinematics (IK) stage recovers joint rotations. While…
In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environments in real-time. End-pose planning for valid stance pose and…
Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot model capable of swinging between different bars. The robot's design is based on a four-link underactuated structure. We propose an offline trajectory…
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the VIK problem seeks to find robot configurations subject to…
Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…
The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs…
Recent works in multiple object tracking use sequence model to calculate the similarity score between the detections and the previous tracklets. However, the forced exposure to ground-truth in the training stage leads to the…