142 citations · 827 across the 40 of their papers we have counts for
10 papers · 1 filter
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to…
Probabilistic Learning of Torque Controllers from Kinematic and Force Constraints
João Silvério, Yanlong Huang, Leonel Rozo +2
When learning skills from demonstrations, one is often required to think in advance about the appropriate task representation (usually in either operational or configuration space)…
Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We belie…
Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback
Spandan Roy, Indra Narayan Kar, Jinoh Lee +2
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Ti…
Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks
Anh Nguyen, Dimitrios Kanoulas, Luca Muratore +2
We present a new method to translate videos to commands for robotic manipulation using Deep Recurrent Neural Networks (RNN). Our framework first extracts deep features from the inp…
AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection
Thanh-Toan Do, Anh Nguyen, Ian Reid
We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an objec…