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Krang: Center of Mass Estimation
(Georgia Institute of Technology, 2014)
Algorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks
(Georgia Institute of Technology, 2012)
We describe several algorithms used for the inference of linguistic robot policies from human
demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to ...
Efficient Opening Detection
(Georgia Institute of Technology, 2011)
We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation ...
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+
(Georgia Institute of Technology, 2013)
This paper derives the forward and inverse kinematics
of a humanoid robot. The specific humanoid that the
derivation is for is a robot with 27 degrees of freedom but
the procedure can be easily applied to other similar ...
Krang Kinematics: A Denavit-Hartenberg Parameterization
(Georgia Institute of Technology, 2014)
Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
(Georgia Institute of Technology, 2011)
This paper presents a method to generate the time-optimal
trajectroy that exactly follows a given differentiable
joint-space path within given bounds on joint accelerations and
velocities. We also present a path ...
Detecting Partially Occluded Objects via Segmentation and Validation
(Georgia Institute of Technology, 2012)
This paper presents a novel algorithm: Verfied
Partial Object Detector (VPOD) for accurate detection of
partially occluded objects such as furniture in 3D point clouds.
VPOD is implemented and validated on real sensor ...
Equations of Motion for Dynamically Stable Mobile Manipulators
(Georgia Institute of Technology, 2010-12-14)
Towards Stable Balancing
(Georgia Institute of Technology, 2014)