相关论文: Robot kinematic structure classification from time…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
We consider object recognition in the context of lifelong learning, where a robotic agent learns to discriminate between a growing number of object classes as it accumulates experience about the environment. We propose an incremental…
Often, experiments, observations or simulations generate large numbers of snapshots of the configurations of complex many-particle systems. It is important to find methods of extracting useful information from these ensembles of snapshots…
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…
This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…
Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work…
In human cognition, the binding problem describes the open question of how the brain flexibly integrates diverse information into cohesive object representations. Analogously, in machine learning, there is a pursuit for models capable of…
To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…
Research on automated, image based identification of clothing categories and fashion landmarks has recently gained significant interest due to its potential impact on areas such as robotic clothing manipulation, automated clothes sorting…
3D skeleton-based action recognition and motion prediction are two essential problems of human activity understanding. In many previous works: 1) they studied two tasks separately, neglecting internal correlations; 2) they did not capture…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
This paper presents a novel deep learning architecture to classify structured objects in datasets with a large number of visually similar categories. We model sequences of images as linear-chain CRFs, and jointly learn the parameters from…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
Previous video-based human pose estimation methods have shown promising results by leveraging aggregated features of consecutive frames. However, most approaches compromise accuracy to mitigate jitter or do not sufficiently comprehend the…
Online action recognition is an important task for human centered intelligent services, which is still difficult to achieve due to the varieties and uncertainties of spatial and temporal scales of human actions. In this paper, we propose…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods to achieve high precision. However, they have difficulty…