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Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…

Machine learning and data analysis now finds both scientific and industrial application in biology, chemistry, geology, medicine, and physics. These applications rely on large quantities of data gathered from automated sensors and user…

Motion-resolved reconstruction for abdominal magnetic resonance imaging (MRI) remains a challenge due to the trade-off between residual motion blurring caused by discretized motion states and undersampling artefacts. In this work, we…

Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…

We report a novel approach for the efficient computation of solutions of a broad class of large-scale systems of non-linear ordinary differential equations, describing aggregation kinetics. The method is based on a new take on the…

With the progress of 3D human pose and shape estimation, state-of-the-art methods can either be robust to occlusions or obtain pixel-aligned accuracy in non-occlusion cases. However, they cannot obtain robustness and mesh-image alignment at…

Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's kinematic constraints or obstacles elsewhere in the…

We propose a numerical method to spline-interpolate discrete signals and then apply the integral transforms to the corresponding analytical spline functions. This represents a robust and computationally efficient technique for estimating…

Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…

With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of…

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…

This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral…

This work addresses inverse linear optimization where the goal is to infer the unknown cost vector of a linear program. Specifically, we consider the data-driven setting in which the available data are noisy observations of optimal…

Sampling-based kinodynamic motion planners (SKMPs) are powerful in finding collision-free trajectories for high-dimensional systems under differential constraints. Time-informed set (TIS) can provide the heuristic search domain to…

Plastic deformation of most crystalline materials is due to the motion of lattice dislocations. Therefore, the simulation of the interaction and dynamics of these defects has become state-of-the-art method to study work hardening, size…

In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating…

Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…

The time-dependent fields obtained by solving partial differential equations in two and more dimensions quickly overwhelm the analytical capabilities of the human brain. A meaningful insight into the temporal behaviour can be obtained by…

This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…