5 papers · 1 filter
A minimum swept-volume metric structure for configuration space
Yann de Mont-Marin, Jean Ponce, Jean-Paul Laumond
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preser…
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers
Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on th…
Learning Obstacle Representations for Neural Motion Planning
Robin Strudel, Ricardo Garcia, Justin Carpentier +3
Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based…
Decidability in Robot Manipulation Planning
Marilena Vendittelli, Jean-Paul Laumond, Bud Mishra
Consider the problem of planning collision-free motion of objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can mo…
Grasping versus Knitting: a Geometric Perspective
Jean-Paul Laumond
Grasping an object is a matter of first moving a prehensile organ at some position in the world, and then managing the contact relationship between the prehensile organ and the obj…