Thomas Galluzzo

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We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree(More)
We present a simple, efficient method of realtime articulated arm pose estimation using stochastic gradient descent to correct unmodeled errors in the robot’s kinematics with point cloud data from commercial depth sensors. We show that our method is robust to error in both the robot’s joint encoders and in the extrinsic calibration of the sensor; and that(More)
Several approaches for incorporating navigation functions into different controllers are developed in this paper for task execution by a nonholonomic system (e.g., a wheeled mobile robot) in the presence of known obstacles. The first approach is based on the use of a 3-dimensional (position and orientation) navigation function that is based on desired(More)
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