4 papers
A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
Maolin Lei, Edoardo Romiti, Arturo Laurenzi +5
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible m…
Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
Maolin Lei, Edoardo Romiti, Arturo Laurenzi +4
This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurat…
CONCERT: a Modular Reconfigurable Robot for Construction
Luca Rossini, Edoardo Romiti, Arturo Laurenzi +16
This paper presents CONCERT, a fully reconfigurable modular collaborative robot (cobot) for multiple on-site operations in a construction site. CONCERT has been designed to support…
EROAM: Event-based Camera Rotational Odometry and Mapping in Real-time
Wanli Xing, Shijie Lin, Linhan Yang +6
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that…