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cs.RO2024
Using a Distance Sensor to Detect Deviations in a Planar Surface
Carter Sifferman, William Sun, Mohit Gupta +1
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement fro…
cs.RO2024
IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations
Yeping Wang, Carter Sifferman, Michael Gleicher
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's ki…