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constrained_manipulability: A ROS 2 library to Compute and Visualize Constrained Capacities for Robotic Manipulators
This paper presents constrained_manipulability, a C++ library to compute and visualize a robot manipulator’s constrained motion …
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Analysis and Perspectives on the ANA Avatar XPRIZE Competition
The ANA Avatar XPRIZE was a four-year competition to develop a robotic “avatar” system to allow a human operator to sense, …
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Practical Approaches Towards Transparent and Stable Bilateral Teleoperation Under Time-Varying Network Delay
In real-life teleoperation scenarios, the presence of time-varying network delays, particularly in wireless networks, poses significant …
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robot_collision_checking: A Lightweight ROS 2 Interface to FCL (Flexible Collision Library)
This paper presents robot_collision_checking, a C++ library that provides a Robot Operating System (ROS) interface to the Flexible …
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Imposing Motion Variability for Ergonomic Human-Robot Collaboration
OCCUPATIONAL APPLICATIONS “Overassistive” robots can adversely impact long-term human-robot collaboration in the workplace, …
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E(2)-Equivariant Graph Planning for Navigation
Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate …
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Polytope-Based Continuous Scalar Performance Measure With Analytical Gradient for Effective Robot Manipulation
Performance measures are essential to characterize a robot’s ability to carry out manipulation tasks. Generally, these measures …
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A Vision for Cleaner Rivers: Harnessing Snapshot Hyperspectral Imaging to Detect Macro-Plastic Litter
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Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments
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Mobile MoCap: Retroreflector Localization On-The-Go
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