Related papers: Merging Position and Orientation Motion Primitives
The creation of plausible and controllable 3D human motion animations is a long-standing problem that requires a manual intervention of skilled artists. Current machine learning approaches can semi-automate the process, however, they are…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…
We propose to learn a probabilistic motion model from a sequence of images for spatio-temporal registration. Our model encodes motion in a low-dimensional probabilistic space - the motion matrix - which enables various motion analysis tasks…
Lattice-based planning techniques simplify the motion planning problem for autonomous vehicles by limiting available motions to a pre-computed set of primitives. These primitives are then combined online to generate more complex maneuvers.…
Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal…
Trajectory planning in robotics is understood as generating a sequence of joint configurations that will lead a robotic agent, or its manipulator, from an initial state to the desired final state, thus completing a manipulation task while…
Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely…
This paper reviews the large spectrum of methods for generating robot motion proposed over the 50 years of robotics research culminating in recent developments. It crosses the boundaries of methodologies, typically not surveyed together,…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
In this paper, we approach the challenging problem of motion planning for knot tying. We propose a hierarchical approach in which the top layer produces a topological plan and the bottom layer translates this plan into continuous robot…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a…
In this paper, we propose a framework for generating motion primitives for lattice-based motion planners automatically. Given a family of systems, the user only needs to specify which principle types of motions, which are here denoted…