Darwin G. Caldwell

収録論文 40本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 下肢エクソスーツのアンカーポイント位置がエネルギー消費と生体力学に与える影響
  ウェアラブルロボット2025/7/1

  股関節屈曲を支援するエクソスーツのアンカーポイント位置を変え、歩行時の筋活動と代謝消費を測定した。膝後方・股関節前方の配置で筋活動が最大10.21%、代謝が最大18.45%削減できるが、最適位置は個人差が大きいことを示した。

• 産業環境における点群セグメンテーションのためのSim2Realドメイン適応アルゴリズムによる人とロボットの協調強化
  sim2real2025/6/1

  産業環境での人とロボットの協調に向け、シミュレーションから実環境へのドメイン適応を可能にする二重ストリームネットワーク(FUSION)を提案し、3D点群のセマンティックセグメンテーション精度97.76%を達成した。

• AIは職場の手首傷害をどう減らせるか？
  外骨格2025/5/1

  製造現場の作業者の手首動作をEMGで分類し、力を予測するモデルを構築。シンプルで低コストなウェアラブル手首外骨格の制御戦略の基盤を提案した。

• 産業用手首外骨格のための作業活動の人間工学的評価
  外骨格2025/5/1

  馬具製造会社の5名の作業者を対象に、アンケートと筋電図を用いて作業負担を評価し、手首外骨格設計の指針を得た。

• GARField: メッシュ付随放射輝度場による衣類操作の視覚的Sim-to-Realギャップの解消
  sim2real2024/10/1

  シミュレーション上の三角形メッシュ状態から実世界に近い観測画像を生成する微分可能レンダリング手法を提案し、衣類操作におけるSim-to-Realギャップの低減を目指した研究。

• Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
  2023/7/1
• Reactive Landing Controller for Quadruped Robots
  2023/5/1
• Control of a Back-Support Exoskeleton to Assist Carrying Activities
  2023/5/1
• Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction
  2022/10/1
• A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
  2022/8/1
• Fusing Visuo-Tactile Perception into Kernelized Synergies for Robust Grasping and Fine Manipulation of Non-rigid Objects
  2021/9/1
• Formulating Intuitive Stack-of-Tasks using Visuo-Tactile Perception for Collaborative Human-Robot Fine Manipulation
  2021/3/1
• Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation
  2020/12/1
• Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots
  2020/8/1
• Line Walking and Balancing for Legged Robots with Point Feet
  2020/7/1
• Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
  2020/3/1
• A Linearly Constrained Nonparametric Framework for Imitation Learning
  2019/9/1
• MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
  2019/9/1
• Towards Orientation Learning and Adaptation in Cartesian Space
  2019/7/1
• Hierarchical Reinforcement Learning for Concurrent Discovery of Compound and Composable Policies
  2019/5/1
• Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
  2019/4/1
• Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
  2019/4/1
• Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
  2019/4/1
• On-line and on-board planning and perception for quadrupedal locomotion
  2019/4/1
• Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives
  2019/3/1
• V2CNet: A Deep Learning Framework to Translate Videos to Commands for Robotic Manipulation
  2019/3/1
• Geometry-aware Manipulability Learning, Tracking and Transfer
  2018/11/1
• Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
  2018/9/1
• Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
  2018/5/1
• Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing
  2018/2/1
• Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
  2017/12/1
• Probabilistic Learning of Torque Controllers from Kinematic and Force Constraints
  2017/12/1
• The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
  2017/12/1
• Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks
  2017/10/1
• Real-Time 6DOF Pose Relocalization for Event Cameras with Stacked Spatial LSTM Networks
  2017/8/1
• Kernelized Movement Primitives
  2017/8/1
• Learning Task Priorities from Demonstrations
  2017/7/1
• Generalized Task-Parameterized Skill Learning
  2017/7/1
• Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops
  2014/6/1
• A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms
  2013/1/1