Related papers: Traversing Environments Using Possibility Graphs f…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion strategies, planning over multiple experts remains a…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of environments. Long, sufficiently even distances can be quickly covered by driving while obstacles can be overcome by stepping. Our quadruped robot…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…