Abstract: Described is a system for decoding recorded signals into movement commands of a prosthetic device. Using a biomechanical model and physical action data, biological signal data is related to kinetic data. The physical action data can include position, joint angle, speed, and acceleration of a part of a limb. The biological signal data can include recorded neural signals and recorded muscle signals. The kinetic data can include force, power, torque, and stress. Based on the relationship between the biological signal data and the kinetic data, control commands are generated to achieve an intended position and/or movement of a prosthesis.

Abstract: A method for merging 3D point clouds from sparsely distributed viewpoints includes collecting a plurality of 3D point cloud data sets using a 3D sensor, each 3D point cloud data set in a local reference frame of a viewpoint of the 3D sensor, downsampling the 3D point cloud data sets, registering the downsampled 3D point cloud data sets to a global reference frame using an initial transform Tv for rotating and translating each downsampled 3D point cloud data set from the local reference frame to the global reference frame, deriving estimated transforms Tv until the last derived transform Tv converges to a stable transform Tv, registering the plurality of 3D point cloud data sets to the global reference frame using the stable transform Tv, and deriving second estimated transforms Tv until the last derived transform Tv converges to a second stable transform Tv.

Abstract: Described is a system for a system for autonomous robotic manipulation. The system is configured to receiving a selected task from a task file library. The task is associated with causing a robot end effector to perform an action with a particular item, such as picking up an item. The selected task is transformed into a state machine. Thereafter, the system executes the state machine and, in doing so, causes the robot end effector to perform the selected task.