1 citations · 4 across the 6 of their papers we have counts for
10 papers
Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects
Wanze Li, Wan Su, Gregory S. Chirikjian
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first ident…
Non-Abelian Fourier Analysis on
Arash Ghaani Farashahi, Gregory S. Chirikjian
This paper presents a systematic study for the general theory of non-Abelian Fourier series of integrable functions on the homogeneous space , where $SE(d…
Asymptotically Steerable Finite Fourier-Bessel Transforms and Closure under Convolution
Arash Ghaani Farashahi, Gregory S. Chirikjian
This paper develops a constructive numerical scheme for Fourier-Bessel approximations on disks compatible with convolutions supported on disks. We address accurate finite Fourier-B…
A Lie-Theoretic Approach to Propagating Uncertainty Jointly in Attitude and Angular Momentum
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equati…
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration
Sipu Ruan, Weixiao Liu, Xiaoli Wang +2
This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion P…
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics
Yuwei Wu, Weixiao Liu, Zhiyang Liu +1
Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and c…