3 papers
cs.RO2026
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…
cs.RO2025
Redundancy Parameterization of the ABB YuMi Robot Arm
Alexander J. Elias, John T. Wen
The ABB YuMi is a 7-DOF collaborative robot arm with a complex, redundant kinematic structure. Path planning for the YuMi is challenging, especially with joint limits considered. T…
cs.RO2025
Path Planning and Optimization for Cuspidal 6R Manipulators
Alexander J. Elias, John T. Wen
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautifu…