139 citations · 987 across the 58 of their papers we have counts for
8 papers · 2 filters
Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art
Christopher Grebe, Emmett Wise, Jonathan Kelly
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a…
Convex Iteration for Distance-Geometric Inverse Kinematics
Matthew Giamou, Filip Marić, David M. Rosen +4
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundan…
Riemannian Optimization for Distance-Geometric Inverse Kinematics
Filip Marić, Matthew Giamou, Adam W. Hall +3
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typical…
Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations
Trevor Ablett, Yifan Zhai, Jonathan Kelly
Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these…
Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors
Abhinav Grover, Christopher Grebe, Philippe Nadeau +1
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other…
A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration
Emmett Wise, Juraj Peršić, Christopher Grebe +2
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standar…
A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots
Filip Marić, Luka Petrović, Marko Guberina +2
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these…
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
Justin Tomasi, Brandon Wagstaff, Steven L. Waslander +1
Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmenta…