Amazing to see that geometric fabrics are being valued. It is an amazing framework to iteratively design motion behavior . Check out our implementation of fabrics on GitHub: github.com/tud-amr/fabrics. It is an open source python implementation and we are eager to see your use case!
Our paper Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior won an RAL best paper award!
arxiv.org/abs/2109.10443
Extremely proud of the team behind this, especially the lead authors @MandyXie9 and Karl Van Wyk. This work is just the beginning!
Together with my colleagues from @AIforRetail , we are presenting a very simple idea to plan interaction-rich manipulation exploiting the ever improving performance of physics engine! Check it out tomorrow at the workshop on embracing contact at @ieee_ras_icra
mspahn retweeted
Hey! I'm presenting at ICRA23 some cool work on sampling based MPC using IsaacGym as dynamic model. It's a super simple idea that turns out to be extremely powerful for contact rich tasks! And its open-source!
Paper: openreview.net/forum?id=fvfZ…
Code: github.com/tud-airlab/mppi-i…
mspahn retweeted
Are you hoping to have a robot pick up your groceries? Maybe you should check out this recent TRO paper by researchers at @tudelft on performing rapid motion planning for mobile manipulators: ieeexplore.ieee.org/document…
#robots #RobotKinematics #MotionControlofManipulators
ALT DF for path (green) following with a nonholonomic mobile manipulator. DF control all actuators simultaneously to follow the end-effector path while keeping a given orientation and avoiding collision with the environment.
mspahn retweeted
🚨 Yes! To drive both R&D and practical applications in the realm of robotics, we are organizing the AIRLab Stacking Challenge with @PALRobotics and @YESDelft. Learn more ⬇️
yesdelft.com/airlab-stacking…