Related papers: Efficient Humanoid Contact Planning using Learned …
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Anticipating the motion of all humans in dynamic environments such as homes and offices is critical to enable safe and effective robot navigation. Such spaces remain challenging as humans do not follow strict rules of motion and there are…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal dynamics have recently received a large amount of attention…
Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Humans leverage the dynamics of the environment and their own bodies to accomplish challenging tasks such as grasping an object while walking past it or pushing off a wall to turn a corner. Such tasks often involve switching dynamics as the…
As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast…
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to…
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…