3 papers
cs.RO2019
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
Filip Marić, Oliver Limoyo, Luka Petrović +3
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possib…
cs.RO2018
Manipulability Maximization Using Continuous-Time Gaussian Processes
Filip Marić, Oliver Limoyo, Luka Petrović +2
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the lo…
cs.RO2018
Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction
Oliver Limoyo, Trevor Ablett, Filip Marić +2
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic t…