142 citations · 827 across the 40 of their papers we have counts for
10 papers · 1 filter
Closed-Loop Control of a Magnetically Actuated Fiber-Coupled Laser for Computer-Assisted Laser Microsurgery
Hamed Mohammadbagherpoor, Alperen Acemoglu, Leonardo S. Mattos +4
Patient outcomes in the medical field are improving through the use and incorporation of robotics technology and laser physics, e.g., the use of optical fibers and lasers in micro-…
A Linearly Constrained Nonparametric Framework for Imitation Learning
Yanlong Huang, Darwin G. Caldwell
In recent years, a myriad of advanced results have been reported in the community of imitation learning, ranging from parametric to non-parametric, probabilistic to non-probabilist…
Towards Orientation Learning and Adaptation in Cartesian Space
Yanlong Huang, Fares J. Abu-Dakka, João Silvério +1
As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint s…
Hierarchical Reinforcement Learning for Concurrent Discovery of Compound and Composable Policies
Domingo Esteban, Leonel Rozo, Darwin G. Caldwell
A common strategy to deal with the expensive reinforcement learning (RL) of complex tasks is to decompose them into a collection of subtasks that are usually simpler to learn as we…
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Carlos Mastalli, Ioannis Havoutis, Michele Focchi +2
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movem…
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis +3
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build…