Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids
Publications associées (57)
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An assembly refers to a collection of parts joined together to achieve a specific form and/or functionality. Designing assemblies is a non-trivial task as a slight local modification on a part's geometry or its joining method could have a global impact on ...
Simulation-based optimization models are widely applied to find optimal operating conditions of processes. Often, computational challenges arise from model complexity, making the generation of reliable design solutions difficult. We propose an algorithm fo ...
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
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An assembly refers to a collection of parts joined together to achieve a specific form and/or functionality. Designing assemblies is a non-trivial task as a slight local modification on a part's geometry or its joining method could have a global impact on ...
Computer Graphics Forum2021
Dense and distributed tactile sensors are critical for robots to achieve human-like manipulation skills. Soft robotic sensors are a potential technological solution to obtain the required high dimensional sensory information unobtrusively. However, the des ...
Institute of Electrical and Electronics Engineers Inc.2020
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We propose an interactive computational design method for deployable auxetic shells. We realize deployable auxetics as triangular linkages that can be actuated with simple expansive mechanisms to assume a desired freeform target shape. The core feature of ...
2018
We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...
For lumped homogeneous reaction systems, this paper presents a kinetic model identification scheme that provides maximum-likelihood parameter estimates and guarantees convergence to global optimality. The use of the extent-based incremental approach allows ...
PERGAMON-ELSEVIER SCIENCE LTD2019
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We introduce a novel approach to reduce the computational effort of solving convex chance constrained programs through the scenario approach. Instead of reducing the number of required scenarios, we directly minimize the computational cost of the scenario ...
2019
It is well known that visual-inertial state estimation is possible up to a four degrees-of-freedom (DoF) transformation (rotation around gravity and translation), and the extra DoFs (“gauge freedom”) have to be handled properly. While different approaches ...
