8 accepted papers
Reactive motion generation in unstructured environments remains an open challenge in robotics. Due to the computational complexity of collision-free motion generation, existing methods either generate global trajectories for static scenarios, or employ models that make conservative assumptions about
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot’s geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics, collision avoidance, and manipulation planning) often treat
In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and is a well established framework for the simplified definition of tasks using two manipulators. By integrating conformal…
This letter presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot trajectory with the spatial statistics of the target distributio
We present <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">drozBot: le robot portraitiste</i> , a robotic system that draws artistic portraits of people. The input images for the portrait are taken interactively by the robot itself. We formulate the
Understanding the kinematics of a ground robot is essential for efficient navigation. Based on the kinematic model of a robot, its full motion capabilities can be represented by theoretical motion primitives. However, depending on the environment and/or human preferences, not all of those theoretica…
Directionality in path planning is essential for efficient autonomous navigation in a number of real-world environments. In many map-based navigation scenarios, the viable path from a given point A to point B is not the same as the viable path from B to A. We present a method that automatically inco…
Conventional skid or wheel based helicopter landing gears severely limit off-field landing possibilities, which are crucial when operating in scenarios such as mountain rescue. In this context, slopes beyond 8° and small obstacles can already pose a substantial hazard. An adaptive landing gear is pr…