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ICRA 2023

1655 papers · 0 AI summaries · 2023

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98 result(s) for “Numerical Inverse Kinematics” Page 1 of 2
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Fast and Robust Inverse Kinematics of Serial Robots Using Halley's Method
Lloyd, Steffan,Irani, Rishad,Ahmadi, Mojtaba
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Analytical Approach to Inverse Kinematics of Single Section Mobile Continuum Manipulators
Audrey Hyacinthe BOUYOM BOUTCHOUANG, Achille MELINGUI, Joseph Jean-Baptiste MVOGO AHANDA, Xinrui YANG, Othman Lakhal, Frederic BIYA MOTTO, Rochdi Merzouki
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Direct and Inverse Modeling of Soft Robots by Learning a Condensed FEM Model
Etienne Ménager, Tanguy Navez, Olivier Goury, Christian Duriez
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Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
Tim-Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier
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Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics
Jan Mrázek, Patrick Ondika, Ivana Černá, Jiri Barnat
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Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator
Pavel Trutman, Mohab Safey El Din, Didier Henrion, Tomas Pajdla
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Kinematic Redundancy Analysis for (2n+1)R Circular Manipulators
Zijia Li, Mathias Brandstötter, Michael Hofbaur
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Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories
Frédéric Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda, Mazen Alamir
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Velocity Following Control of a Pseudo-Driven Wheel for Reducing Internal Forces between Wheels
Huanan Qi, Liang Ding, Bo You, Lan Huang, Xin An, Shu Li, Guangjun Liu
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Show Me What You Want: Inverse Reinforcement Learning to Automatically Design Robot Swarms by Demonstration
Ilyes Gharbi, Jonas Kuckling, David Garzón Ramos, Mauro Birattari
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Force Sharing Problem During Gait Using Inverse Optimal Control
Filip Becanovic, Vincent Bonnet, Raphaël Dumas, Kosta Jovanovic, Samer Mohammed
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SoLo T-DIRL: Socially-Aware Dynamic Local Planner Based on Trajectory-Ranked Deep Inverse Reinforcement Learning
Yifan Xu, Theodor Chakhachiro, Tribhi Kathuria, Maani Ghaffari
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Holistic View of Inverse Optimal Control by Introducing Projections on Singularity Curves
Jessica Colombel, David Daney, Francois Charpillet
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Learning Personalised Human Sit-To-Stand Motion Strategies Via Inverse Musculoskeletal Optimal Control
Daniel F. N. Gordon, Andreas Christou, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar
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Option-Aware Adversarial Inverse Reinforcement Learning for Robotic Control
Jiayu Chen, Tian Lan, Vaneet Aggarwal
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Inverse Reinforcement Learning Framework for Transferring Task Sequencing Policies from Humans to Robots in Manufacturing Applications
Omey Mohan Manyar, Zachary McNulty, Stefanos Nikolaidis, Satyandra K. Gupta
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An Equivalent Two Section Method for Calculating the Workspace of Multi-Segment Continuum Robots
Yeman Fan, Dikai Liu
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Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions
Negar Mehr, Mingyu Wang, Maulik Bhatt, Mac Schwager
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Inverse Perspective Mapping-Based Neural Occupancy Grid Map for Visual Parking
Xiangru Mu, Haoyang Ye, Daojun Zhu, Tongqing Chen, Tong Qin
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DriveIRL: Drive in Real Life with Inverse Reinforcement Learning
Tung Phan-Minh, Forbes Howington, Ting-Sheng Chu, Momchil Tomov, Robert Beaudoin, Sang Uk Lee, Nanxiang Li, Caglayan Dicle, Samuel Findler, Francisco Suárez-Ruiz, Bo Yang, Sammy Omari, Eric Wolff
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Hybrid Learning of Time-Series Inverse Dynamics Models for Locally Isotropic Robot Motion
Tolga-Can Çallar, Sven Böttger
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Learning Risk-Aware Costmaps Via Inverse Reinforcement Learning for Off-Road Navigation
Samuel Triest, Mateo Guaman Castro, Parv Maheshwari, Matthew Sivaprakasam, Wenshan Wang, Sebastian Scherer
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Continuous Prediction of Leg Kinematics during Walking using Inertial Sensors, Smart Glasses, and Embedded Computing
Oleksii Tsepa, Roman Burakov, Brokoslaw Laschowski, Alex Mihailidis
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Environment Warped Gait Trajectory Optimization for Complex Terrains
Zherong Pan, Tan Chen, Xifeng Gao, Kui Wu
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Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks
Zirui Zang, Hongrui Zheng, Johannes Betz, Rahul Mangharam
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Trajectory Planning Issues in Cuspidal Commercial Robots
Durgesh Haribhau Salunkhe, Damien Chablat, Philippe Wenger
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Sequential Stochastic Multi-Task Assignment for Multi-Robot Deployment Planning
Colin Mitchell, Graeme Best, Geoffrey Hollinger
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A Fast Geometric Framework for Dynamic Cosserat Rods with Discrete Actuated Joints
Hossain Samei, Robin Chhabra
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Connecting Gaits in Energetically Conservative Legged Systems
Maximilian Raff, Nelson Rosa, C. David Remy
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Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback
Jared Lawson, Rohan Chitale, Nabil Simaan
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Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3)
Vincenzo Lippiello, Jonathan Cacace
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A Sampling-Based Motion Assignment Strategy with Multi-Performance Optimization for Macro-Micro Robotic System
Zhou, Yaohua,Chen, Chin-Yin,Yang, Guilin,Li, Yaonan
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Towards a Finned-Swimming Exoskeleton: A Robotic Flutter Kicking Testbed and Its Corresponding Thrust Generation
Beau Johnson, Michael Goldfarb
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Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model
David Juny Yoon, Timothy Barfoot
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Computational Design of 3D-Printable Compliant Mechanisms with Bio-Inspired Sliding Joints
Felipe Velasquez, Bernhard Thomaszewski, Stelian Coros
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On Tendon Driven Continuum Robots with Compressible Backbones
Manu Srivastava, Ian Walker
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Monocular Visual-Inertial Depth Estimation
Diana Wofk, Rene Ranftl, Matthias Müller, Vladlen Koltun
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Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator
Dario Sanalitro, Marco Tognon, Antonio Jimenez-Cano, Juan Cortes, Antonio Franchi
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Improving the Robustness of Reinforcement Learning Policies with L1 Adaptive Control
Yikun Cheng, Pan Zhao, Fanxin Wang, Daniel Block, NAIRA HOVAKIMYAN
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Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh Jha, Arvind Raghunathan
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Environment Optimization for Multi-Agent Navigation
Zhan Gao, Amanda Prorok
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Support Generation for Robot-Assisted 3D Printing with Curved Layers
Tianyu Zhang, Yuming Huang, Piotr Tomasz Kukulski, Neelotpal Dutta, Guoxin Fang, Charlie C.L. Wang
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Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots
Sven Lilge, Jessica Burgner-Kahrs
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Reinforcement Learning Control of a Reconfigurable Planar Cable Driven Parallel Manipulator
Adhiti Raman Thothathri, Ameya Salvi, Matthias Schmid, Venkat Krovi
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A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria
Edward Zhu, Francesco Borrelli
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ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation
Marios Xanthidis, Eleni Kelasidi, Kostas Alexis
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Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
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Model Learning with Backlash Compensation for a Tendon-Driven Surgical Robot
Francesco Cursi, Weibang Bai, Eric Yeatman, Petar Kormushev
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One-Shot Reachability Analysis of Neural Network Dynamical Systems
Shaoru Chen, Victor Preciado, Mahyar Fazlyab
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Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization
Kuniyuki Takahashi, Tadahiro Taniguchi
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