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09/21/2023
Planning Optimal Trajectories for Mobile Manipulators under End-effector Trajectory Continuity Constraint
Mobile manipulators have been employed in many applications which are us...
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06/11/2023
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly
A common theme in robot assembly is the adoption of Manipulation Primiti...
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06/11/2023
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly
In sim-to-real Reinforcement Learning (RL), a policy is trained in a sim...
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06/08/2023
Time-Optimal Path Tracking with ISO Safety Guarantees
One way of ensuring operator's safety during human-robot collaboration i...
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05/27/2023
Task-Space Clustering for Mobile Manipulator Task Sequencing
Mobile manipulators have gained attention for the potential in performin...
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03/08/2023
Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning
Task planning for robots is computationally challenging due to the combi...
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03/08/2023
Time-Optimal Control via Heaviside Step-Function Approximation
Least-squares programming is a popular tool in robotics due to its simpl...
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03/07/2023
Geometry-Aware Coverage Path Planning for Depowdering on Complex 3D Surfaces
This paper presents a new approach to obtaining nearly complete coverage...
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01/31/2023
Fine Robotic Manipulation without Force/Torque Sensor
Force Sensing and Force Control are essential to many industrial applica...
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09/15/2022
Stability Guarantees for Continuous RL Control
Lack of stability guarantees strongly limits the use of reinforcement le...
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01/20/2022
DFBVS: Deep Feature-Based Visual Servo
Classical Visual Servoing (VS) rely on handcrafted visual features, whic...
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11/03/2021
Realtime Trajectory Smoothing with Neural Nets
In order to safely and efficiently collaborate with humans, industrial r...
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11/09/2020
MoboTSP: Solving the Task Sequencing Problem for Mobile Manipulators
We introduce a new approach to tackle the mobile manipulator task sequen...
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11/02/2020
Learning Sequences of Manipulation Primitives for Robotic Assembly
This paper explores the idea that skillful assembly is best represented ...
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03/06/2020
Robotic Assembly across Multiple Contact Stiffnesses with Robust Force Controllers
Active Force Control (AFC) is an important scheme for tackling high-prec...
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09/10/2019
Convex Controller Synthesis for Contact
Controlling contacts is truly challenging, and this has been a major hur...
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06/19/2019
Development of a robotic system for automatic organic chemistry synthesis
Automated chemical synthesis carries great promises of safety, efficienc...
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05/20/2019
Planning coordinated motions for tethered planar mobile robots
This paper considers the motion planning problem for multiple tethered p...
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05/18/2019
SCALAR: Simultaneous Calibration of 2D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
In this paper, we propose SCALAR, a calibration method to simultaneously...
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03/12/2019
Siamese Convolutional Neural Network for Sub-millimeter-accurate Camera Pose Estimation and Visual Servoing
Visual Servoing (VS), where images taken from a camera typically attache...
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03/07/2019
Locating Transparent Objects to Millimetre Accuracy
Transparent surfaces, such as glass, transmit most of the visible light ...
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01/04/2019
A probabilistic framework for tracking uncertainties in robotic manipulation
Precisely tracking uncertainties is crucial for robots to successfully a...
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12/29/2018
3D Convolution on RGB-D Point Clouds for Accurate Model-free Object Pose Estimation
The conventional pose estimation of a 3D object usually requires the kno...
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09/21/2018
Printing-while-moving: a new paradigm for large-scale robotic 3D Printing
Building and Construction have recently become an exciting application g...
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09/10/2018
Critically fast pick-and-place with suction cups
Fast robotic pick-and-place with suction cups is a crucial component in ...
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03/02/2018