142 citations · 827 across the 40 of their papers we have counts for
5 papers · 1 filter
Geometry-aware Manipulability Learning, Tracking and Transfer
Noémie Jaquier, Leonel Rozo, Darwin G. Caldwell +1
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulabili…
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
Octavio Villarreal, Victor Barasuol, Marco Camurri +5
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots…
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Michele Focchi, Romeo Orsolino, Marco Camurri +4
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with o…
Object Captioning and Retrieval with Natural Language
Anh Nguyen, Thanh-Toan Do, Ian Reid +2
We address the problem of jointly learning vision and language to understand the object in a fine-grained manner. The key idea of our approach is the use of object descriptions to…
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing
Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell +1
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a n…