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cs.RO2025
ODE Methods for Computing One-Dimensional Self-Motion Manifolds
Dominic Guri, George Kantor
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions a…
cs.RO2025
A Systematic Robot Design Optimization Methodology with Application to Redundant Dual-Arm Manipulators
Dominic Guri, George Kantor
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in comple…
cs.RO2025
Audio-Visual Contact Classification for Tree Structures in Agriculture
Ryan Spears, Moonyoung Lee, George Kantor +1
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Id…