2 papers
cs.RO2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal +2
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft c…
cs.RO2020
Learning Camera Miscalibration Detection
Andrei Cramariuc, Aleksandar Petrov, Rohit Suri +3
Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is m…