139 citations · 987 across the 58 of their papers we have counts for
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Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a singl…
Recovery Policies for Safe Exploration of Lunar Permanently Shadowed Regions by a Solar-Powered Rover
Olivier Lamarre, Shantanu Malhotra, Jonathan Kelly
The success of a multi-kilometre drive by a solar-powered rover at the lunar south pole depends upon careful planning in space and time due to highly dynamic solar illumination con…
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
Hanna Jiamei Zhang, Matthew Giamou, Filip Marić +2
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is…
aUToLights: A Robust Multi-Camera Traffic Light Detection and Tracking System
Sean Wu, Nicole Amenta, Jiachen Zhou +2
Following four successful years in the SAE AutoDrive Challenge Series I, the University of Toronto is participating in the Series II competition to develop a Level 4 autonomous pas…
The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects
Philippe Nadeau, Matthew Giamou, Jonathan Kelly
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, tra…
Extrinsic Calibration of 2D Millimetre-Wavelength Radar Pairs Using Ego-Velocity Estimates
Qilong Cheng, Emmett Wise, Jonathan Kelly
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable featur…