4 accepted papers
Gaussian inference on smooth manifolds is central to robotics, but exact marginalization and conditioning are generally non-Gaussian and geometry-dependent. We study tangent-linearized Gaussian inference and derive explicit non-asymptotic <inline-formula><tex-math notation="LaTeX">$W_{2}$</tex-math>
Accurately recovering the full 9-DoF pose of unseen instances within specific categories from a single RGB image remains a core challenge for robotics and automation. Most existing solutions still rely on pseudo-depth, CAD models, or multi-stage cascades that separate 2D detection from pose estimati…
Electric motors, with a fixed reduction ratio, have a large unused operating region when mimicking muscle movements owing to the difference between the force-velocity curves of electric motors and muscles. This unused region can be reduced by changing the reduction ratio according to the external fo
Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots. Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially, unstable contact between the foot and ground caused by joint elast…