— We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained m...
During teleoperation, a human operator often receives only 2-D visual feedback from the remote environment. While a variety of kinematic sensors exist on the remote manipulator fo...
— Pretouch sensing is longer range than contact, but shorter range than vision. The hypothesis motivating this work is that closed loop feedback based on short range but nonconta...
— Any given task can be solved in a number of ways, whether through path-planning, modeling, or control techniques. In this paper, we present a methodology for natural task decom...
— We provide a general approach for learning robotic motor skills from human demonstration. To represent an observed movement, a non-linear differential equation is learned such ...
Peter Pastor, Heiko Hoffmann, Tamim Asfour, Stefan...