4 accepted papers
Classical mechanical systems are central to controller design in energy shaping methods of geometric control. However, their expressivity is limited by position-only metrics and the intimate link between metric and geometry. Recent work on Riemannian Motion Policies (RMPs) has shown that shedding th
Collision-free motion generation in unknown environments is a core building block for robot manipulation. Generating such motions is challenging due to multiple objectives; not only should the solutions be optimal, the motion generator itself must be fast enough for real-time performance and reliab…
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are largely static, but they may contain some movable obstacles that the robot must avoid. Manipulation tasks in these applicat…
Virtual reality experiences via immersive optics and sound are becoming ubiquitous; there are several consumer systems (e.g., Oculus Rift and HTC Vive) now available with these capabilities. Other sensory experiences, such as that of touch remain elusive in this field. The most successful examples o