Ivan Virgala

TL;DR: This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularitiesavoidance task, and an obstacle avoidance task that results in a significant decrease of computing time.

TL;DR: Developing and application of snake robot for inspection pipes using potential field method and inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance.

TL;DR: This paper extends the topic of monocular pose estimation of an object using Aruco tags imaged by RGB cameras by designing and developing a library to combine the pose data from the individual tags for both higher accuracy and stability.