Related papers: Contact-Rich Trajectory Generation in Confined Env…
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…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
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…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…