Related papers: Robust, Compliant Assembly via Optimal Belief Spac…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…

Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…

This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…

Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…

Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random control inputs, their empirical convergence rate is often poor,…

Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Robotic manipulation relies on analytical or learned models to simulate the system dynamics. These models are often inaccurate and based on offline information, so that the robot planner is unable to cope with mismatches between the…

An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…

Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…

The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce…

Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring…

Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…

Kinodynamic motion planners allow robots to perform complex manipulation tasks under dynamics constraints or with black-box models. However, they struggle to find high-quality solutions, especially when a steering function is unavailable.…

Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…