Abstract: To reliably manipulate previously unknown objects in semi-structured environments, robots require rapid deployments and seamless transitions in pose estimation and grasping. This work proposes a novel two-stage robotic ...

Abstract: For more than a century, rigid-body displacements have been viewed as affine transformations described as homogeneous transformation matrices wherein the linear part is a rotation matrix. In group-theoretic terms, this ...

Abstract: Knowing the set of allowable motions of a convex body moving inside a slightly larger one is useful in applications such as automated assembly mechanisms, robot motion planning, etc. The theory behind this is called the ...