Papers
2
Total Citations
11
H-Index
2
About
Oscar Mar is a robotics researcher whose work centers on mobile robot kinematics, autonomous navigation, and 3D perception for humanoid platforms. His most-cited paper, “Dead-reckoning inverse and direct kinematic solution of a 4W independent driven rover” (2010, 8 citations), addresses the challenging problem of trajectory control for four-wheel driven skid-steering robots. In this work, Mar provides a practical mathematical formulation for solving both inverse and direct kinematics, enabling more precise dead-reckoning control despite asynchronous wheel velocities—a critical contribution for field robotics where odometry accuracy is essential. In a second notable study (2012, 3 citations), Mar proposes an active strategy for simultaneous localization and 3D object reconstruction using only monocular vision on a small humanoid platform. By combining stochastic control with visual SLAM techniques, his approach allows the robot to intelligently plan its movements to improve reconstruction quality. While his citation counts remain modest, Mar’s work demonstrates a strong engineering focus on bridging theoretical kinematics with real-world robotic platforms, offering practical solutions for wheeled and legged systems alike. His research is particularly relevant for students and engineers working on autonomous navigation, mobile manipulation, and active perception.
Research Focus
Key Achievements
Top Papers
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