50 citations · 75 across the 6 of their papers we have counts for
3 papers · 1 filter
LLM-guided Task and Motion Planning using Knowledge-based Reasoning
Muhayy Ud Din, Jan Rosell, Waseem Akram +3
Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level mo…
Singularities of serial robots: Identification and distance computation using geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fun…
Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails hi…