相关论文: Inverse Kinematics with Vision-Based Constraints
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
Near kinematic singularities of a serial manipulator, the inverse kinematics (IK) problem becomes ill-conditioned, which poses computational problems for the numerical solution. Computational methods to tackle this issue are based on…
Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Vision-based locomotion has shown great promise in enabling legged robots to perceive and adapt to complex environments. However, visual information is inherently fragile, being vulnerable to occlusions, reflections, and lighting changes,…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…
Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: moving a tool or…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
This paper presents the open-source robot inverse kinematics (IK) solver IK-Geo, the fastest general IK solver based on published literature. In this unifying approach, IK for any 6-DOF all-revolute (6R) manipulator is decomposed into six…
Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. These methods require the computation of the Jacobian of the…
Action-conditioned surgical video generation is a critical yet highly challenging problem for robotic surgery. The core difficulty is that low-dimensional control vectors must precisely govern complex image-space evolution. In this work, we…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a single solution only and rely on local search techniques to…
Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…