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#filmphotography

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Forbal: Force Balanced 2-5 Degree of Freedom Robot Manipulator Built from a Five Bar Linkage
Yash Vyas, Matteo Bottin
https://arxiv.org/abs/2509.03119 https://

Forbal: Force Balanced 2-5 Degree of Freedom Robot Manipulator Built from a Five Bar Linkage
A force balanced manipulator design based on the closed chain planar five bar linkage is developed and experimentally validated. We present 2 variants as a modular design: Forbal-2, a planar 2-DOF manipulator, and its extension to 5-DOF spatial motion called Forbal-5. The design considerations in terms of geometric, kinematic, and dynamic design that fulfill the force balance conditions while maximizing workspace are discussed. Then, the inverse kinematics of both variants are derived from geom…

DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
Martin Peticco, Gabriella Ulloa, John Marangola, Pulkit Agrawal
https://arxiv.org/abs/2507.01008

DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
We present the DexWrist, a compliant robotic wrist designed to advance robotic manipulation in highly-constrained environments, enable dynamic tasks, and speed up data collection. DexWrist is designed to be close to the functional capabilities of the human wrist and achieves mechanical compliance and a greater workspace as compared to existing robotic wrist designs. The DexWrist can supercharge policy learning by (i) enabling faster teleoperation and therefore making data collection more scalab…

No, Google did not warn 2.5 billion Gmail users to reset passwords
https://www.bleepingcomputer.com/news/technology/no-google-did-not-warn-25-billion-gmail-users-to-reset-passwords/

No, Google did not warn 2.5 billion Gmail users to reset passwords
Google has disputed a widely reported story about the company warning all Gmail users to reset their passwords due to a recent data breach that also affected some Workspace accounts.

Ghost in the Machine: Examining the Philosophical Implications of Recursive Algorithms in Artificial Intelligence Systems
Llewellin RG Jegels
https://arxiv.org/abs/2507.01967

Ghost in the Machine: Examining the Philosophical Implications of Recursive Algorithms in Artificial Intelligence Systems
This paper investigates whether contemporary AI architectures employing deep recursion, meta-learning, and self-referential mechanisms provide evidence of machine consciousness. Integrating philosophical history, cognitive science, and AI engineering, it situates recursive algorithms within a lineage spanning Cartesian dualism, Husserlian intentionality, Integrated Information Theory, the Global Workspace model, and enactivist perspectives. The argument proceeds through textual analysis, compar…

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
Anuj Pasricha, Joewie Koh, Jay Vakil, Alessandro Roncone
https://arxiv.org/abs/2508.21375 https://…

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
Nominal payload ratings for articulated robots are typically derived from worst-case configurations, resulting in uniform payload constraints across the entire workspace. This conservative approach severely underutilizes the robot's inherent capabilities -- our analysis demonstrates that manipulators can safely handle payloads well above nominal capacity across broad regions of their workspace while staying within joint angle, velocity, acceleration, and torque limits. To address this gap betwe…

I'm sharing a presentation I gave at my workspace last week: "LLMs, GenAI... should we?"
Just for fun, I converted what was an ODP presentation into Markdown that my Jekyll blog could display as a regular article, then materialized the slides as such, and finally I added a slideshow feature.
I'm thinking of making a presenter mode where one window would display the slideshow, while another would display the presenter's notes, as well as the previous & ne…

Evaluating Pointing Gestures for Target Selection in Human-Robot Collaboration
Noora Sassali, Roel Pieters
https://arxiv.org/abs/2506.22116 https://…

Evaluating Pointing Gestures for Target Selection in Human-Robot Collaboration
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a planar workspace. The approach employs pose estimation, and a simple geometric model based on shoulder-wrist extension to extract gesturing data from an RGB-D stream. The study proposes a rigorous methodology and comprehensive analysis for evaluating pointing g…

Uncertainty Aware-Predictive Control Barrier Functions: Safer Human Robot Interaction through Probabilistic Motion Forecasting
Lorenzo Busellato, Federico Cunico, Diego Dall'Alba, Marco Emporio, Andrea Giachetti, Riccardo Muradore, Marco Cristani
https://arxiv.org/abs/2508.20812

Uncertainty Aware-Predictive Control Barrier Functions: Safer Human Robot Interaction through Probabilistic Motion Forecasting
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic obstacle is the stochastic, task-dependent variability of human motion: when robots fall back on purely reactive or worst-case envelopes, they brake unnecessarily, stall task progress, and tamper with the fluidity that true Human-Robot Interaction demands. In rece…

Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
Dongjae Lee, Byeongjun Kim, H. Jin Kim
https://arxiv.org/abs/2508.19608 htt…

Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation, the robot can freely locate itself at any point in $\mathsf{SE}(3)$, significantly extending its manipulation workspace and enabling a manipulation task that was originally not viable. In this work, we present a geometric robust control and whole-body motion …