The repository provides the code for contributing to and using the R2D2 dataset. NOTE: This repository has two dependencies listed below. If you are setting this up on the robot NUC, (1) is required.

industrial_robot_core/ ├─ include/ │ ├─ robot_arm.hpp # DH model + FK/Jacobian │ └─ robot/ │ ├─ ik_types.hpp # Options/Result/Workspace + status codes │ └─ ik_solver_dls.hpp # IKSolverDls API ├─ src/ ...

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Abstract: Conforming to safety standards often limits collaborative robots’ performance and size, restricting their applications despite their capabilities. Planning their motions in human ...

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Abstract: This paper addresses the problem of admittance control for bimanual and cooperative manipulators. First, a novel admittance controller is devised to be consistent with the geometry of the ...