7 papers · 1 filter
An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks
Boyang Ti, Yongsheng Gao, Jie Zhao +1
Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of t…
AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting
Julius Jankowski, Ante Marić, Sylvain Calinon
Air hockey is a highly reactive game which requires the player to quickly reason over stochastic puck and contact dynamics. We implement a hierarchical framework which combines sto…
Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials
Ante Marić, Yiming Li, Sylvain Calinon
Reasoning about distance is indispensable for establishing or avoiding contact in manipulation tasks. To this end, we present an online approach for learning implicit representatio…
Learning Joint Space Reference Manifold for Reliable Physical Assistance
Amirreza Razmjoo, Tilen Brecelj, Kristina Savevska +3
This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of fo…
gafro: Geometric Algebra for Robotics
Tobias Löw, Philip Abbet, Sylvain Calinon
Geometry is a fundamental part of robotics and there have been various frameworks of representation over the years. Recently, geometric algebra has gained attention for its propert…
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Xuemin Chi, Tobias Löw, Yiming Li +2
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors a…