From the 1 of 13 linked papers with an AI index.
13 papers
Anatomy of Uncertainty: Expressive Descriptors of Robotic Manipulator Motion for Non-verbal Communication in Human-Robot Collaboration
Ridhima Bector, Souravik Dutta, Poornima Ramachandran +4
The paper presents a framework that uses Laban Movement Analysis to encode different types of perceptual uncertainty in robot manipulator motions, defining motion primitives and ki…
Wrench-Based Bayesian Pose Estimation via Matrix--Fisher Gaussian Inference
Jianyu Chen, Lin Yang, Yibang Li +2
In this paper, a residual-safeguarded local Matrix Fisher--Gaussian (MFG) inference method is developed for wrench-based pose estimation on . The…
Haptic Sorter: A Unified Planning Framework for Online Shape Estimation and Real-Time Pose Inference
Zhuoyi Lu, Lin Yang, Sri Harsha Turlapati +1
Robotics manipulation usually assumes that the shape and pose of the object are known to the robot prior to motion planning. However, precise geometric information is not always av…
Whole-body motion planning and safety-critical control for aerial manipulation
Lin Yang, Jinwoo Lee, Domenico Campolo +2
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feas…
Adaptive Manipulation Potential and Haptic Estimation for Tool-Mediated Interaction
Lin Yang, Anirvan Dutta, Yuan Ji +5
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing…
Haptic-based Complementary Filter for Rigid Body Rotations
Amit Kumar, Domenico Campolo, Ravi N. Banavar
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic in…