98 citations · 307 across the 12 of their papers we have counts for
4 papers · 1 filter
A Systematic Approach to Computing the Manipulator Jacobian and Hessian using the Elementary Transform Sequence
Jesse Haviland, Peter Corke
The elementary transform sequence (ETS) provides a universal method of describing the kinematics of any serial-link manipulator. The ETS notation is intuitive and easy to understan…
NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators
Jesse Haviland, Peter Corke
We present NEO, a fast and purely reactive motion controller for manipulators which can avoid static and dynamic obstacles while moving to the desired end-effector pose. Additional…
Control of the Final-Phase of Closed-Loop Visual Grasping using Image-Based Visual Servoing
Jesse Haviland, Feras Dayoub, Peter Corke
This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasp…
A Purely-Reactive Manipulability-Maximising Motion Controller
Jesse Haviland, Peter Corke
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It oper…