Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network
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In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot's flange. The calibration setup requires only ...
Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...
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Typical operating conditions for mobile sensor systems, and in particular mobile robots, exhibit a wide range of mechanical disturbances due their ego-motion. Sensor systems mounted on these mobile platforms often suffer to varying degrees from these distu ...
Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...
Decision making and planning with partial state information is a problem faced by all forms of intelligent entities. The formulation of a problem under partial state information leads to an exorbitant set of choices with associated probabilistic outcomes m ...
This paper studies existing direct transcription methods for trajectory optimization for robot motion planning. These methods have demonstrated to be favorable for planning dynamically feasible motions for high dimensional robots with complex dynamics. How ...
We propose to formulate the problem of repre-senting a distribution of robot configurations (e.g. joint angles)as that of approximating a product of experts. Our approach uses variational inference, a popular method in Bayesian computation, which has sever ...
During design a mechanical structure such as a robotic finger, modeling parts and designing joints are two time-consuming steps. This paper presents a method for design and fabrication of a humanoid robotic finger that intends to mimic the human finger in ...
This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...