Related papers: Risk-Aware Motion Planning for a Limbed Robot with…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
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…
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow passages or crossing large gaps. Our approach adds new…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…