Related papers: Merging Position and Orientation Motion Primitives

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…

Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…

Considering the driving habits which are learned from the naturalistic driving data in the path-tracking system can significantly improve the acceptance of intelligent vehicles. Therefore, the goal of this paper is to generate the…

Optimal control approaches in combination with trajectory optimization have recently proven to be a promising control strategy for legged robots. Computationally efficient and robust algorithms were derived using simplified models of the…

This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…

Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…

For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of…

Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…

Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore,…

Imitation learning has been studied widely as a convenient way to transfer human skills to robots. This learning approach is aimed at extracting relevant motion patterns from human demonstrations and subsequently applying these patterns to…

Probabilistic Movement Primitives (ProMPs) are a widely used representation of movements for human-robot interaction. They also facilitate the factorization of temporal and spatial structure of movements. In this work we investigate a…

Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended…

We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samples multiple grasp poses, increasing the likelihood of…

Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…