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Robotics and Controls Lab @ UConn
Приєднався 3 чер 2015
Full- and Reduced-Order Observers for Image-Based Depth Estimation Using Concurrent Learning
The CL-based full and reduced order observers are designed for the perspective dynamical system to estimate the depth of a feature point from sequential feature point and velocity measurements. The video shows the Baxter implementation of the CL-based full and reduced order observers.
Research Articles:
1) G. Rotithor, D. Trombetta, R. Kamalapurkar and A. P. Dani, "Full- and Reduced-Order Observers for Image-Based Depth Estimation Using Concurrent Learning," in IEEE Transactions on Control Systems Technology, doi: 10.1109/TCST.2020.3036369.
2) G. Rotithor, D. Trombetta, R. Kamalapurkar and A. P. Dani, "Reduced Order Observer for Structure from Motion using Concurrent Learning," 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 6815-6820, doi: 10.1109/CDC40024.2019.9029636.
3) G. Rotithor, R. Saltus, R. Kamalapurkar and A. Dani, "Observer Design for Structure from Motion using Concurrent Learning," 2019 American Control Conference (ACC), 2019, pp. 2384-2389, doi: 10.23919/ACC.2019.8814784.
Research Articles:
1) G. Rotithor, D. Trombetta, R. Kamalapurkar and A. P. Dani, "Full- and Reduced-Order Observers for Image-Based Depth Estimation Using Concurrent Learning," in IEEE Transactions on Control Systems Technology, doi: 10.1109/TCST.2020.3036369.
2) G. Rotithor, D. Trombetta, R. Kamalapurkar and A. P. Dani, "Reduced Order Observer for Structure from Motion using Concurrent Learning," 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 6815-6820, doi: 10.1109/CDC40024.2019.9029636.
3) G. Rotithor, R. Saltus, R. Kamalapurkar and A. Dani, "Observer Design for Structure from Motion using Concurrent Learning," 2019 American Control Conference (ACC), 2019, pp. 2384-2389, doi: 10.23919/ACC.2019.8814784.
Переглядів: 136
Відео
Dual Quaternion Visual Servo Control
Переглядів 2323 роки тому
The video shows Baxter implementation of a dual quaternion (DQ) position-based visual servo (PBVS) controller. The DQ-PBVS framework consists of an observer to estimate the current pose of the camera and a DQ control law to regulate the camera to the desired pose. Research Articles: 1) R. Saltus, I. Salehi, G. Rotithor and A. P. Dani, "Dual Quaternion Visual Servo Control," 2020 59th IEEE Confe...
Shape Estimation for Elongated Deformable Object Using B-spline Chained Multiple Random Matrices
Переглядів 613 роки тому
The B-spline chained multiple random matrices representation is proposed to estimate the shape of an elongated deformable object. The video demonstrates the experimental results for the shape estimation of a rope as an elongated deformable object. Research Articles: 1) G. Yao, R. Saltus, A. P. Dani, "Shape estimation for elongated deformable object using B-spline chained multiple random matrice...
Image Moment-Based Extended Object Tracking for Complex Motions
Переглядів 923 роки тому
The video shows the simulation and experimental results for tracking complex object motions using image moments. Research Articles: G. Yao, R. Saltus and A. Dani, "Image Moment-Based Extended Object Tracking for Complex Motions," in IEEE Sensors Journal, vol. 20, no. 12, pp. 6560-6572, 15 June15, 2020, doi: 10.1109/JSEN.2020.2976540.
Active Sampling based Safe Identification of Dynamical Systems using ELM and Barrier Certificates
Переглядів 403 роки тому
The video shows implementation of the learning dynamical systems algorithm that keeps the end effector generated trajectories in a confined space. Four experiments are carried out on the Baxter robot. The first experiment shows the Baxter robot following a trajectory generated from an unconstrained model to demonstrate the necessity of enforcing barrier constraints while learning the model. The...
Visual tracking using iterative Earth Mover's Distance
Переглядів 6197 років тому
Visual tracking using iterative Earth Mover's Distance with sparse coding as appearance model
Learning Partially Contracting Dynamical Systems using Gaussian Mixture Models
Переглядів 1787 років тому
A video demonstrating the experimental results of the CDSP-GMM algorithm. The Baxter robot autonomously draws a leaf shape learned from the LASA handwriting dataset.
Bayesian Human Intention Inference with Eye Gaze-based Priors
Переглядів 2458 років тому
Bayesian Human Intention Inference with Eye Gaze-based Priors
Intention Inference using Approximate Expectation-Maximization Algorithm with Online Model Learning
Переглядів 2618 років тому
Intention Inference using Approximate Expectation-Maximization Algorithm with Online Model Learning
Meet Husky! (Rethink Robotics Video Challenge)
Переглядів 2949 років тому
Husky, the robot superstar, at the Robotics and Control Laboratory at the University of Connecticut.
Learning Contracting Nonlinear Dynamics from Human Demonstrations for Robot Motion Planning
Переглядів 4869 років тому
Learning Contracting Nonlinear Dynamics from Human Demonstrations for Robot Motion Planning
Robot Control Programming
Переглядів 60 тис.9 років тому
[IEEE CSS Video Clip Contest 2015 Submission] How do robots work the way they do? Find out how industrial robots are programmed and controlled.
User-Guided Mutual Information Tracker (UGMIT)
Переглядів 2489 років тому
H. Ravichandar, A. P. Dani, "Gyro-aided Image-based Tracking using Mutual Information Optimization and User Inputs", IEEE Systems, Man, Cybernetics Conference, 2014. (ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6974019)
Good
MANTHAN
Hanzhen harmonic drive gear , over 30 years experience in industrial robot arm gear reducer
great video! thanks!
You forgot to mention offline programming.
awesome. learning
helpful af
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This was an awesome video, thanks for the clear explanation of robotic programming.
Very useful video, gave me great help with an assignment