Zobrazeno 1 - 10
of 123
pro vyhledávání: '"MARIĆ, FILIP"'
In autonomous robotics, measurement of the robot's internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essential. Estimating the pose of the robot arm from a single view has the
Externí odkaz:
http://arxiv.org/abs/2405.04890
Publikováno v:
EPTCS 398, 2024, pp. 11-20
Although there are several systems that successfully generate construction steps for ruler and compass construction problems, none of them provides readable synthetic correctness proofs for generated constructions. In the present work, we demonstrate
Externí odkaz:
http://arxiv.org/abs/2401.13700
Autor:
Limoyo, Oliver, Marić, Filip, Giamou, Matthew, Alexson, Petra, Petrović, Ivan, Kelly, Jonathan
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a single solution only and rely on local search techniques to minimize a high
Externí odkaz:
http://arxiv.org/abs/2307.01902
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is finding robot joint configurations that satisfy desired position or po
Externí odkaz:
http://arxiv.org/abs/2306.13617
Autonomous manipulation systems operating in domains where human intervention is difficult or impossible (e.g., underwater, extraterrestrial or hazardous environments) require a high degree of robustness to sensing and communication failures. Crucial
Externí odkaz:
http://arxiv.org/abs/2301.02051
Autor:
Limoyo, Oliver, Marić, Filip, Giamou, Matthew, Alexson, Petra, Petrović, Ivan, Kelly, Jonathan
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on local search
Externí odkaz:
http://arxiv.org/abs/2209.08812
Publikováno v:
EPTCS 352, 2021, pp. 14-26
We describe first steps towards a system for automated triangle constructions in absolute and hyperbolic geometry. We discuss key differences between constructions in Euclidean, absolute and hyperbolic geometry, compile a list of primitive constructi
Externí odkaz:
http://arxiv.org/abs/2201.00534
Publikováno v:
Logical Methods in Computer Science, Volume 19, Issue 1 (February 1, 2023) lmcs:8898
In order to apply canonical labelling of graphs and isomorphism checking in interactive theorem provers, these checking algorithms must either be mechanically verified or their results must be verifiable by independent checkers. We analyze a state-of
Externí odkaz:
http://arxiv.org/abs/2112.14303
Autor:
Giamou, Matthew, Marić, Filip, Rosen, David M., Peretroukhin, Valentin, Roy, Nicholas, Petrović, Ivan, Kelly, Jonathan
Publikováno v:
IEEE Robotics and Automation Letters (RA-L), Vol. 7, No. 2, pp. 1952-1959, Apr. 2022
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex set of sol
Externí odkaz:
http://arxiv.org/abs/2109.03374
Autor:
Marić, Filip, Giamou, Matthew, Hall, Adam W., Khoubyarian, Soroush, Petrović, Ivan, Kelly, Jonathan
Publikováno v:
IEEE Transactions on Robotics (T-RO), Vol. 38, No. 3, pp. 1703-1722, Jun. 2022
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated mapping betw
Externí odkaz:
http://arxiv.org/abs/2108.13720