5 papers
ODE Methods for Computing One-Dimensional Self-Motion Manifolds
Dominic Guri, George Kantor
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions a…
A Systematic Robot Design Optimization Methodology with Application to Redundant Dual-Arm Manipulators
Dominic Guri, George Kantor
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in comple…
Audio-Visual Contact Classification for Tree Structures in Agriculture
Ryan Spears, Moonyoung Lee, George Kantor +1
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Id…
SonicBoom: Contact Localization Using Array of Microphones
Moonyoung Lee, Uksang Yoo, Jean Oh +3
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to…
Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot
Janice Seungyeon Lee, Thomas Detlefsen, Shara Lawande +5
Interactive sensors are an important component of robotic systems but often require manual replacement due to wear and tear. Automating this process can enhance system autonomy and…