Zobrazeno 1 - 10
of 562
pro vyhledávání: '"Chirikjian, Gregory"'
Autor:
Khan, Shiraz, Chirikjian, Gregory S.
The Fisher Information Metric (FIM) and the associated Cram\'er-Rao Bound (CRB) are fundamental tools in statistical signal processing, which inform the efficient design of experiments and algorithms for estimating the underlying parameters. In this
Externí odkaz:
http://arxiv.org/abs/2411.00258
Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing, stitching, and covering/uncovering human beings. However, estimating
Externí odkaz:
http://arxiv.org/abs/2409.11831
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of hanging by an
Externí odkaz:
http://arxiv.org/abs/2408.06734
Publikováno v:
Journal of Mechanisms and Robotics, 15, 031010,2023
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure (CoP). A cali
Externí odkaz:
http://arxiv.org/abs/2405.20969
This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen classes of objects in household settings. Inspired by human cognitive proc
Externí odkaz:
http://arxiv.org/abs/2403.19369
This paper presents a systematic study for the general theory of non-Abelian Fourier series of integrable functions on the homogeneous space $\mathbf{\Gamma}\backslash SE(d)$, where $SE(d)$ is the special Euclidean group in dimension $d$, and $\mathb
Externí odkaz:
http://arxiv.org/abs/2403.15874
Autor:
Ye, Jikai, Chirikjian, Gregory S.
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via Mckean-Gangolli injection, we first convert it to a parametric SDE in exp
Externí odkaz:
http://arxiv.org/abs/2401.03425
This paper addresses uncertainty propagation on unimodular matrix Lie groups that have a surjective exponential map. We derive the exact formula for the propagation of mean and covariance in a continuous-time setting from the governing Fokker-Planck
Externí odkaz:
http://arxiv.org/abs/2312.03348
This paper develops a constructive numerical scheme for Fourier-Bessel approximations on disks compatible with convolutions supported on disks. We address accurate finite Fourier-Bessel transforms (FFBT) and inverse finite Fourier-Bessel transforms (
Externí odkaz:
http://arxiv.org/abs/2311.03772