Related papers: Risk-Aware Motion Planning for a Limbed Robot with…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human…
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…
For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often…
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integrate the contact uncertainties into the covariance…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…