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Motion Comparator: Visual Comparison of Robot Motions
Yeping Wang, Alexander Peseckis, Zelong Jiang +1
Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designe…
A Design Space of Control Coordinate Systems in Telemanipulation
Yeping Wang, Pragathi Praveena, Michael Gleicher
Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should…
Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms
Carter Sifferman, Yeping Wang, Mohit Gupta +1
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient hi…
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita +1
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equ…