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A user interface for the remote control of vision-based robot navigation in previously unknown, indoor or outdoor environments has been developed. Visual feedback from the camera(s) of the robot is provided to the user, allowing him to select a visual target to be reach...

This paper shows how the information required to solve arbitrary single loop inverse kinematics problems can be reduced to a single scalar equation using simple algebraic considerations. Then, a set of variable substitutions allows us to express this fundamental equatio...

The Inverse Kinematics (IK) of a robot arm is a very complex mapping, with a relatively high dimensionality, which makes its accurate approximation with a learning system very difficult. This is reflected in the high number of training samples, i.e., robot movements, th...

Thesis (M.A.)--Özyeğin University, Graduate School of Sciences and Engineering, Department of Computer Science, May 2017. In robotics, flexible and the dexterous manipulation are one of the most desired type of skills. To this end, we investigate dexterous manipulation ...

Visual navigation in unstructured, previously unknowns, environments is investigated in the project ARGOS. This paper describes the goals of the project, the guidelines we follow to face each aspect of it, and the motivations that led us to work with a walking robot. Th...

The limited adaptivity of current robots is preventing their widespread application. However, nowadays there are mature techniques available to palliate this deficiency. After briefly surveying the several levels of adaptivity required and the disciplines addressing eac...

In this paper, we address the problem of moving a legged robot in an unknown environment according to externally provided driving commands assuming an arbitrary initial position of legs. This general problem is decomposed in three subproblems: first, decide when to lift...

One of the main aims of this paper is to draw the reader's attention to some problems and results from Structural Geometry which can be easily reformulated in terms familiar to the researches in Computational Kinematics, thus establishing connecting threads between both...

This paper considers the problem of 3D motion recovery from a sequence of monocular images while zooming. Unlike the common trend based on point matches, the proposed method relies on the deformation of an active contour fitted to a reference object. We derive the relat...