3 accepted papers
Recently, the behavior tree is gaining popularity as a robotic task-level knowledge representation. Manual design of behavior trees from scratch is tedious and cumbersome. Motivated by the need for an efficient way to reuse or transfer robot task-level knowledge, we propose a vector-space embedding…
Performing manipulation tasks in human environments often requires coordinated motions. The Extended-Cooperative-Task Space (ECTS) presents a unified representation describing any type of coordinated motions of two end-effectors. This paper focuses on the specification of dual-arm motion tasks based…
Locomotion stability of a humanoid robot is closely related to the capacity to regulate its Center of Mass (CoM) motion. In this paper, the Feasible Center of Mass Dynamic Manipulability (FCDM) is introduced and analyzed as a measure of this capacity. The effects of posture, joint velocities and gra…