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Dynamic Characterization of KUKA Light-Weight Robot Manipulators
(Georgia Institute of Technology, 2012)
High precision tasks are an important part of the manufacturing industry. For example, safety constraints require that some manufacturing must be done to a very high degree of accuracy. Robotics and automation are well ...
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 ...
Rapid Loop Updates
(Georgia Institute of Technology, 2012-09-11)
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 ...
Factor Graphs and GTSAM: A Hands-on Introduction
(Georgia Institute of Technology, 2012-09)
In this document I provide a hands-on introduction to both factor graphs and GTSAM.
Factor graphs are graphical models (Koller and Friedman, 2009) that are well suited to modeling
complex estimation problems, such as ...
Mobile Manipulation in Domestic Environments Using A Low Degree of Freedom Manipulator
(Georgia Institute of Technology, 2012)
We present a mobile manipulation system used by the Georgia Tech team in the RoboCup@Home 2010 competition. An overview of the system is provided, including the approach taken for manipulation, SLAM, object detection, ...
Diverse Workspace Path Planning for Robot Manipulators
(Georgia Institute of Technology, 2012-07)
We present a novel algorithm that generates a set of diverse workspace paths for
manipulators. By considering more than one possible path we give our manipulator
the flexibility to choose from many possible ways to execute ...