相关论文: Robot kinematic structure classification from time…

Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical…

Due to the availability of large-scale skeleton datasets, 3D human action recognition has recently called the attention of computer vision community. Many works have focused on encoding skeleton data as skeleton image representations based…

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…

Skeleton-based human action recognition has attracted a lot of research attention during the past few years. Recent works attempted to utilize recurrent neural networks to model the temporal dependencies between the 3D positional…

Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…

Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…

As the use of collaborative robots (cobots) in industrial manufacturing continues to grow, human action recognition for effective human-robot collaboration becomes increasingly important. This ability is crucial for cobots to act…

Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…

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…

Over the past one hundred years, the classic teaching methodology of "see one, do one, teach one" has governed the surgical education systems worldwide. With the advent of Operation Room 2.0, recording video, kinematic and many other types…

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…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Robots generally have a structure that combines rotational joints and links in a serial fashion. On the other hand, various joint mechanisms are being utilized in practice, such as prismatic joints, closed links, and wire-driven systems.…

During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…

The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…

Contemporary approaches to solving various problems that require analyzing three-dimensional (3D) meshes and point clouds have adopted the use of deep learning algorithms that directly process 3D data such as point coordinates, normal…

Mathematical models are fundamental building blocks in the design of dynamical control systems. As control systems are becoming increasingly complex and networked, approaches for obtaining such models based on first principles reach their…

A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…

Pose detection is one of the fundamental steps for the recognition of human actions. In this paper we propose a novel trainable detector for recognizing human poses based on the analysis of the skeleton. The main idea is that a skeleton…

We demonstrate the possibility of classifying causal systems into kinds that share a common structure without first constructing an explicit dynamical model or using prior knowledge of the system dynamics. The algorithmic ability to…