Design-to-Fabrication Workflow for Raw-Sawn-Timber using Joinery Solver
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We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...
We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by tak ...
In this thesis we tackle the problem of goal-oriented adaptation of a robot hitting motion. We propose the parameters that must be learned in order to use and adapt a basic hitting motion to play minigolf. Then, two different statistical methods are used t ...
We propose an efficient kinematic position control for the center of mass of an articulated arm. The algorithm integrates the context of multiple joints reaching their limit value together with a singular configuration on the remaining joint space. We demo ...
The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...
This thesis is about feature-based mobile robot navigation in unknown environments. The work is focusing on solving the problem of Simultaneous Localization and Mapping (SLAM) including feature extraction, estimation and complete map building solution. The ...
This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...
We present a generic framework that allows learning non- linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dy ...