Related papers: Integrating Combined Task and Motion Planning with…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
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…
Peg-in-hole assembly is a challenging contact-rich manipulation task. There is no general solution to identify the relative position and orientation between the peg and the hole. In this paper, we propose a novel method to classify the…
We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
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…
Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial…
Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…
In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale…