52 citations · 135 across the 55 of their papers we have counts for
8 papers · 1 filter
Asymptotically Steerable Finite Fourier-Bessel Transforms and Closure under Convolution
Arash Ghaani Farashahi, Gregory S. Chirikjian
This paper develops a constructive numerical scheme for Fourier-Bessel approximations on disks compatible with convolutions supported on disks. We address accurate finite Fourier-B…
A Lie-Theoretic Approach to Propagating Uncertainty Jointly in Attitude and Angular Momentum
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equati…
Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs
Xin Meng, Hongtao Wu, Sipu Ruan +1
In this letter, a paradigm for the classification and manipulation of previously unseen objects is established and demonstrated through a real example of chairs. We present a novel…
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration
Sipu Ruan, Weixiao Liu, Xiaoli Wang +2
This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion P…
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics
Yuwei Wu, Weixiao Liu, Zhiyang Liu +1
Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and c…
On the Inertial Rotational Brownian Motion of Arbitrarily Shaped Particles
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
This article reports the modeling of inertial rotational Brownian motion as an Ornstein-Uhlenbeck process evolving on the cotangent bundle of the rotation group, SO(3). The benefit…
Marching-Primitives: Shape Abstraction from Signed Distance Function
Weixiao Liu, Yuwei Wu, Sipu Ruan +1
Representing complex objects with basic geometric primitives has long been a topic in computer vision. Primitive-based representations have the merits of compactness and computatio…
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control
Boren Jiang, Ximeng Tao, Yuanfeng Han +2
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additi…