Learning to make mixed-integer robot motion planning easy
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Humans have a remarkable way of learning, adapting and mastering new manipulation
tasks. With the current advances in Machine Learning (ML), the promise of having
robots with such capabilities seems to be on the cusp of reality. Transferring human-level
sk ...
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 ...
Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally ...
Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal leve ...
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 ...
2019
,
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast motion planning ...
IEEE2019
Industrial robots are increasingly used in various
applications where the robot accuracy becomes very important,
hence calibrations of the robot's kinematic parameters and
the measurement system's extrinsic parameters are required.
However, the existing ca ...
2018
Continual developments in robotic technology have enabled the use of robots in everyday applications in domestic, office and public spaces. Although single robot problems have been the main focus of social robotics research, applications of robots in socia ...
The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a mo ...
