129 citations · 264 across the 21 of their papers we have counts for
10 papers · 1 filter
A Systematic Approach to Computing the Manipulator Jacobian and Hessian using the Elementary Transform Sequence
Jesse Haviland, Peter Corke
The elementary transform sequence (ETS) provides a universal method of describing the kinematics of any serial-link manipulator. The ETS notation is intuitive and easy to understan…
Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
Robert Lee, Daniel Ward, Akansel Cosgun +3
Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. I…
NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators
Jesse Haviland, Peter Corke
We present NEO, a fast and purely reactive motion controller for manipulators which can avoid static and dynamic obstacles while moving to the desired end-effector pose. Additional…
Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision
Patrick Rosenberger, Akansel Cosgun, Rhys Newbury +4
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic obj…
EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation
Douglas Morrison, Peter Corke, Jürgen Leitner
We present the Evolved Grasping Analysis Dataset (EGAD), comprising over 2000 generated objects aimed at training and evaluating robotic visual grasp detection algorithms. The obje…
Control of the Final-Phase of Closed-Loop Visual Grasping using Image-Based Visual Servoing
Jesse Haviland, Feras Dayoub, Peter Corke
This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasp…