Reduced Dynamics and Control for an Autonomous Bicycle

no code implementations • 30 Mar 2021 • Jiaming Xiong, Bo Li, Ruihan Yu, Daolin Ma, Wei Wang, Caishan Liu

In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering.

Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip

1 code implementation • 31 Oct 2018 • Siyuan Dong, Daolin Ma, Elliott Donlon, Alberto Rodriguez

The output is a dense slip field which we use to detect when small areas of the contact patch start to slip (incipient slip).

Robotics

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

3 code implementations • 3 Oct 2017 • Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez

Since product images are readily available for a wide range of objects (e. g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data.

Image Classification Robotic Grasping