We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, e.g., for collision avoidance, contact point identification, and augmented reality. The key idea is...
Robot Control
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The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained...
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The Newton-Euler equations that govern multi-body systems are not
integrable in general. However, they become so in the pendular mode, a
specific way of moving where conservation of the angular momentum is
enforced. This property was successfully showcased for locomotion over...