Related papers: Continuous Collision Detection for a Robotic Arm M…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs),…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be collision free. This class includes several existing algorithms…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…
This thesis studies the interference-free workspace (IFW) of arbitrary cable-driven robots (CDRs) for both cables and obstacles using the ray-based method. Continuing from this, the point-to-point path planning and verification technique to…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
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,…