Welcome to the RPK Lab
Highlights
- Our paper Collision Detection for Unions of Convex Bodies With Smooth Boundaries Using Closed-Form Contact Space Parameterization has been accepted by IEEE Robotics and Automation Letters (RA-L). More details in the project page.
- Our paper Primitive-based Shape Abstraction via Nonparametric Bayesian Inference has been accepted by ECCV2022.
- Our paper Efficient Path Planning in Narrow Passages for Robots with Ellipsoidal Components has been accepted by IEEE Transactions on Robotics (T-RO). More details in the project page.
- Congratulations to Dr. Hongtao Wu on his successful Dissertation Defense (March 31th, 2022)!
- Our paper Robust and Accurate Superquadric Recovery: a Probabilistic Approach will appear in CVPR2022 as an oral presentation. The source code can be found here.
- Our paper Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Objects via Robot Imagination has been accepted to ICRA2022.
- Our work Closed-form Minkowski sums of convex bodies with smooth positively curved boundaries has been accepted to Computer-Aided Design.
About us
The Robot and Protein Kinematics (RPK) Laboratory is currently actively involved in research on Robot Imagination, Robot Motion Planning, Humanoid Robots, 3D Vision, Crystallography. We are interested in applying Lie group theory and machine learning methods into intelligent robotics research. Our long-term goal is to allow robots to have the intelligence to undestand and interact with common objects in the unstructured household environment.
Previously, our group have worked on developed theory for ‘hyper- redundant’ (snakelike) robot motion planning, hyper-redundant robotic manipulator arms, modular self-reconfigurable robots, applied mathematics (applications of group theory in engineering), self-replicating robotic systems, computational structural biology (in particular, computational mechanics of large proteins), and conformational statistics of biological macromolecules
Our group is directed by Prof. Gregory S. Chirikjian, and is part of the Department of Mechanical Engineering at the National University of Singapore.
This website is under construction. More contents could be found on our JHU-RPK-Lab website.
Portrait © 2020 by Gregory Chirikjian is licensed under CC BY-SA 4.0