52 citations · 135 across the 55 of their papers we have counts for
10 papers · 1 filter
Rate of Entropy Production in Stochastic Mechanical Systems
Gregory S. Chirikjian
Entropy production in stochastic mechanical systems is examined here with strict bounds on its rate. Stochastic mechanical systems include pure diffusions in Euclidean space or on…
Robust and Accurate Superquadric Recovery: a Probabilistic Approach
Weixiao Liu, Yuwei Wu, Sipu Ruan +1
Interpreting objects with basic geometric primitives has long been studied in computer vision. Among geometric primitives, superquadrics are well known for their ability to represe…
Bootstrapping Globally Optimal Variational Calculus Solutions
Gregory S. Chirikjian
Whereas in a coordinate-dependent setting the Euler-Lagrange equations establish necessary conditions for solving variational problems in which both the integrands of functionals a…
Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Chairs via Robot Imagination
Hongtao Wu, Xin Meng, Sipu Ruan +1
In this paper, we study the problem of autonomously seating a teddy bear on a previously unseen chair. To achieve this goal, we present a novel method for robots to imagine the sit…
Look at my new blue force-sensing shoes!
Yuanfeng Han, Ruixin Li, Gregory S. Chirikjian
To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot fe…
Towards Efficient Graph Convolutional Networks for Point Cloud Handling
Yawei Li, He Chen, Zhaopeng Cui +4
In this paper, we aim at improving the computational efficiency of graph convolutional networks (GCNs) for learning on point clouds. The basic graph convolution that is typically c…
A Learning-Based Approach for Estimating Inertial Properties of Unknown Objects from Encoder Discrepancies
Zizhou Lao, Yuanfeng Han, Yunshan Ma +1
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to…
Efficient Path Planning in Narrow Passages for Robots with Ellipsoidal Components
Sipu Ruan, Karen L. Poblete, Hongtao Wu +2
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, thes…
LSG-CPD: Coherent Point Drift with Local Surface Geometry for Point Cloud Registration
Weixiao Liu, Hongtao Wu, Gregory Chirikjian
Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which…
Continuous body 3-D reconstruction of limbless animals
Qiyuan Fu, Thomas W. Mitchel, Jin Seob Kim +2
Limbless animals such as snakes, limbless lizards, worms, eels, and lampreys move their slender, long bodies in three dimensions to traverse diverse environments. Accurately quanti…