scholarly journals Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation

2008 ◽  
Author(s):  
Dov Katz ◽  
Yuri Pyuro ◽  
Oliver Brock
Keyword(s):  
Articulated Objects ◽  
Unstructured Environments ◽  
Relational Representation

scholarly journals Topological representation of cloth state for robot manipulation

2021 ◽  
Author(s):  
Fabio Strazzeri ◽  
Carme Torras
Keyword(s):  
State Space ◽  
Configuration Space ◽  
Common Ground ◽  
Low Complexity ◽  
Flag Manifold ◽  
Infinite Dimensional ◽  
Articulated Objects ◽  
Research Goal ◽  
State Graphs ◽  
Deformable Materials

AbstractForty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their infinite-dimensional shape-state space. Finding low-complexity representations has become a pressing research goal. This work tries to make a tiny step in this direction by proposing a state representation for textiles relying on the C-space of some distinctive points. A stratification of the configuration space for n points in the cloth is derived from that of the flag manifold, and topological techniques to determine adjacencies in manipulation-centred state graphs are developed. Their algorithmic implementation permits obtaining cloth state–space representations of different granularities and tailored to particular purposes. An example of their usage to distinguish between cloth states having different manipulation affordances is provided. Suggestions on how the proposed state graphs can serve as a common ground to link the perception, planning and manipulation of textiles are also made.

Annotation scaffolds for manipulating articulated objects

2021 ◽  
Author(s):  
Pablo Frank-Bolton ◽  
Roxana Leontie ◽  
Evan Drumwright ◽  
Rahul Simha
Keyword(s):  
Articulated Objects

A nonparametric-learning visual servoing framework for robot manipulator in unstructured environments

2021 ◽  
Vol 437 ◽  
pp. 206-217
Author(s):  
Xungao Zhong ◽  
Xunyu Zhong ◽  
Huosheng Hu ◽  
Xiafu Peng
Keyword(s):  
Visual Servoing ◽  
Robot Manipulator ◽  
Unstructured Environments ◽  
Nonparametric Learning

Optimization-Based Terrain Analysis and Path Planning in Unstructured Environments

2019 ◽  
Author(s):  
Ueli Graf ◽  
Paulo Borges ◽  
Emili Hernandez ◽  
Roland Siegwart ◽  
Renaud Dube
Keyword(s):  
Path Planning ◽  
Terrain Analysis ◽  
Unstructured Environments

Autonomous Navigation in Unstructured Environments

2004 ◽  
Vol 37 (14) ◽  
pp. 25-29 ◽  
Author(s):  
Hugh Durrant-Whyte
Keyword(s):  
Autonomous Navigation ◽  
Unstructured Environments

Recognizing articulated objects and object articulation in SAR images

1998 ◽  
Author(s):  
Bir Bhanu ◽  
Grinnell Jones III ◽  
Joon S. Ahn
Keyword(s):  
Sar Images ◽  
Articulated Objects
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