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Fairfax County of Virginia enforces the Virginia Uniform Statewide Building Code which contains the building regulations that must be complied with when constructing commercial buildings. Current inspection methods consist of inspectors physically searching for building defects with human vision while many defects ranging from structural cracks and loose nuts and bolts to inadequate sealant application...
This paper proposes a combined learning framework for a table tennis robot. In a typical robot table tennis setup, a single striking point is predicted for the robot on the basis of the ball's initial state. Subsequently, the desired Cartesian racket state and the desired joint states at the striking time are determined. Finally, robot joint trajectories are generated. Instead of predicting a single...
In highly dynamic tasks that involve moving targets, planning is necessary to figure out when, where and how to intercept the target. In robotic table tennis in particular, motion planning can be very challenging due to time constraints, dimension of the search space and modelling uncertainties. To simplify the problem, conventional planning algorithms often rely on a fixed virtual hitting plane to...
Highly dynamic tasks that require large accelerations and precise tracking usually rely on precise models and/or high gain feedback. While movement primitives allow for efficient representation of such tasks from demonstrations, the optimization of the required motor commands for systems with inaccurate dynamic models remains an open problem. To achieve accurate tracking for such tasks, we investigate...
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