3D shape reconstruction from a humanoid generated video sequence

by admin | Dec 8, 2017

Although statistical analysis can also be applied in 3D face shape recovery,  we have additionally worked on the development of geometric approaches for the monocular-based localization of humanoid robots, finding applications in both navigation and object...

Hierarchical Task-based Control of Multi-Robot Systems with Terminal Attractors

by admin | Dec 8, 2017

Authors: Gustavo Arechavaleta, América Morales-Díaz, Héctor Pérez-Villeda and Mario Castelán Abstract: This paper proposes a hierarchical control scheme based on the definition of a set of multi-robot task functions. To deal with the inherent conflicts between tasks,...

Vision based persistance localization of a humanoid robot for locomotion tasks

by garechav | Dec 8, 2017

 Typical monocular localization schemes involve solving for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies...

Visual Servo Walking Control for Humanoids with Finite-time Convergence and Smooth Robot Velocities

by garechav | Dec 8, 2017

Authors:  Josafat Delfín, Héctor Becerra and Gustavo Arechavaleta Abstract: In this paper, we address the problem of humanoid locomotion guided from information of a monocular camera. The goal of the robot is to reach a desired location defined in terms of a target...

A Passivity-based Model-free Force-Motion Control of Underwater Vehicle-Manipulator Systems

by garechav | Dec 8, 2017

Authors: E. Olguín-Díaz, G. Arechavaleta, G. Jarquín and V. Parra-Vega Abstract: A passivity-based model-free control scheme for underwater fully actuated vehicle-manipulator system (UVMS) in contact tasks is proposed. An orthogonalized motion and force second order...