17 citations · 21 across the 13 of their papers we have counts for
5 papers · 1 filter
Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra
Tobias Löw, Sylvain Calinon
In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and…
gafro: Geometric Algebra for Robotics
Tobias Löw, Philip Abbet, Sylvain Calinon
Geometry is a fundamental part of robotics and there have been various frameworks of representation over the years. Recently, geometric algebra has gained attention for its propert…
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Xuemin Chi, Tobias Löw, Yiming Li +2
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors a…
Projection-based first-order constrained optimization solver for robotics
Hakan Girgin, Tobias Löw, Teng Xue +1
Robot programming tools ranging from inverse kinematics (IK) to model predictive control (MPC) are most often described as constrained optimization problems. Even though there are…
Whole-Body Ergodic Exploration with a Manipulator Using Diffusion
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consis…