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OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi +3
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in robotics. Both TO and MPC are increasingly rec…
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Christopher E. Mower, Theodoros Stouraitis, João Moura +7
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics re…
Robotic Endoscope Control via Autonomous Instrument Tracking
Caspar Gruijthuijsen, Luis C. Garcia-Peraza-Herrera, Gianni Borghesan +5
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the…