Related papers: Closed-Chain Manipulation of Large Objects by Mult…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
Humans interact with an object in many different ways by making contact at different locations, creating a highly complex motion space that can be difficult to learn, particularly when synthesizing such human interactions in a controllable…
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…