12 papers
Geometric Interpretation of Brownian Motion on Riemannian Manifolds
Taeyoung Lee, Gregory S. Chirikjian
This paper presents a unified geometric framework for Brownian motion on manifolds, encompassing intrinsic Riemannian manifolds, embedded submanifolds, and Lie groups. The approach…
Continuous body 3-D reconstruction of limbless animals
Qiyuan Fu, Thomas W. Mitchel, Jin Seob Kim +2
Limbless animals such as snakes, limbless lizards, worms, eels, and lampreys move their slender, long bodies in three dimensions to traverse diverse environments. Accurately quanti…
Lateral oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Qiyuan Fu, Sean W. Gart, Thomas W. Mitchel +3
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake l…
Means of Random Variables in Lie Groups
Shiraz Khan, Jikai Ye, Gregory S. Chirikjian
The concepts of mean (i.e., average) and covariance of a random variable are fundamental in statistics, and are used to solve real-world problems such as those that arise in roboti…
Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Camera
Peiyuan Ni, Chee Meng Chew, Marcelo H. Ang +1
Bin-picking of metal objects using low-cost RGB-D cameras often suffers from sparse depth information and reflective surface textures, leading to errors and the need for manual lab…
Fast Convolutions on via Radial Translational Dependence and Classical FFT
Arash Ghaani Farashahi, Gregory S. Chirikjian
Let denote the right coset space of the subgroup consisting of translational isometries of the orthogonal lattice in the non-Abelian g…