1 citations · 3 across the 10 of their papers we have counts for
5 papers · 2 filters
Robustness Assessment of Assemblies in Frictional Contact
Philippe Nadeau, Jonathan Kelly
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded…
Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems
Jonathan Kelly
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and…
Automated Planning Domain Inference for Task and Motion Planning
Jinbang Huang, Allen Tao, Rozilyn Marco +3
Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP…
Stable Object Placement Planning From Contact Point Robustness
Philippe Nadeau, Jonathan Kelly
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object place…
Automated Continuous Force-Torque Sensor Bias Estimation
Philippe Nadeau, Miguel Rogel Garcia, Emmett Wise +1
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements…