Zobrazeno 1 - 10
of 67
pro vyhledávání: '"Doğar, Mehmet"'
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model predictive
Externí odkaz:
http://arxiv.org/abs/2411.06183
Autor:
Dogar, Mehmet Remzi
ldquo
Developmental robotics&rdquo
proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. A robot should go through cognitive development just like a
Developmental robotics&rdquo
proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. A robot should go through cognitive development just like a
Externí odkaz:
http://etd.lib.metu.edu.tr/upload/12608695/index.pdf
Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have proved the
Externí odkaz:
http://arxiv.org/abs/2408.11665
Autor:
Adler, Aviv, Ahmad, Ayah, Qiu, Yulei, Wang, Shengyin, Agboh, Wisdom C., Llontop, Edith, Qiu, Tianshuang, Ichnowski, Jeffrey, Kollar, Thomas, Cheng, Richard, Dogar, Mehmet, Goldberg, Ken
This paper addresses the "Teenager's Problem": efficiently removing scattered garments from a planar surface into a basket. As grasping and transporting individual garments is highly inefficient, we propose policies to select grasp locations for mult
Externí odkaz:
http://arxiv.org/abs/2310.16951
Autor:
Srinivas, Kishore, Ganti, Shreya, Parikh, Rishi, Ahmad, Ayah, Agboh, Wisdom, Dogar, Mehmet, Goldberg, Ken
We present the "Busboy Problem": automating an efficient decluttering of cups, bowls, and silverware from a planar surface. As grasping and transporting individual items is highly inefficient, we propose policies to generate grasps for multiple items
Externí odkaz:
http://arxiv.org/abs/2307.03882
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can
Externí odkaz:
http://arxiv.org/abs/2306.14021
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an image from
Externí odkaz:
http://arxiv.org/abs/2211.13572
Autor:
Agboh, Wisdom C., Sharma, Satvik, Srinivas, Kishore, Parulekar, Mallika, Datta, Gaurav, Qiu, Tianshuang, Ichnowski, Jeffrey, Solowjow, Eugen, Dogar, Mehmet, Goldberg, Ken
We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object grasps. Pr
Externí odkaz:
http://arxiv.org/abs/2210.07420
Autor:
Dogar, Mehmet R.
Publikováno v:
Dissertations.
This thesis presents a series of planners and algorithms for manipulation in cluttered human environments. The focus is on using physics-based predictions, particularly for pushing operations, as an effective way to address the manipulation challenge
Externí odkaz:
http://repository.cmu.edu/dissertations/310
http://repository.cmu.edu/cgi/viewcontent.cgi?article=1304&context=dissertations
http://repository.cmu.edu/cgi/viewcontent.cgi?article=1304&context=dissertations
We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. The objective is to efficiently grasp and transport all objects into a b
Externí odkaz:
http://arxiv.org/abs/2206.00229