Related papers: URDF+: An Enhanced URDF for Robots with Kinematic …
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Unsigned Distance Fields (UDFs) are a natural implicit representation for open surfaces but, unlike Signed Distance Fields (SDFs), are challenging to triangulate into explicit meshes. This is especially true at high resolutions where neural…
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
Neural Fields have emerged as a transformative approach for 3D scene representation in computer vision and robotics, enabling accurate inference of geometry, 3D semantics, and dynamics from posed 2D data. Leveraging differentiable…
This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loops based on factor graphs. Manipulator dynamics is considered…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
Designing effective reward functions is a cornerstone of reinforcement learning (RL), yet it remains a challenging process due to the inefficiencies and inconsistencies inherent in conventional reward engineering methodologies. Recent…
The Resource Description Framework (RDF) is a Semantic Web standard that provides a data language, simply called RDF, as well as a lightweight ontology language, called RDF Schema. We investigate embeddings of RDF in logic and show how…
Most of legacy systems use nowadays were modeled and documented using structured approach. Expansion of these systems in terms of functionality and maintainability requires shift towards object-oriented documentation and design, which has…
Understanding human social behaviour is crucial in computer vision and robotics. Micro-level observations like individual actions fall short, necessitating a comprehensive approach that considers individual behaviour, intra-group dynamics,…
Recent years have seen a growth in the number of industrial robots working closely with end-users such as factory workers. This growing use of collaborative robots has been enabled in part due to the availability of end-user robot…
The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology…
Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for…
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that…
Stroke patients often experience upper limb impairments that restrict their mobility and daily activities. Physical therapy (PT) is the most effective method to improve impairments, but low patient adherence and participation in PT…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in…
We have developed URDME, a general software for simulation of stochastic reaction-diffusion processes on unstructured meshes. This allows for a more flexible handling of complicated geometries and curved boundaries compared to simulations…
Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…