Related papers: Characterizing Universal Reconfigurability of Modu…
This study addresses the problem of occluded grasping, where primary grasp configurations of an object are not available due to occlusion with environment. Simple parallel grippers often struggle with such tasks due to limited dexterity and…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
This paper presents a manipulation planning algorithm for robots to reorient objects. It automatically finds a sequence of robot motion that manipulates and prepares an object for specific tasks. Examples of the preparatory manipulation…
Self-adaptive parameters are increasingly used in the field of Evolutionary Robotics, as they allow key evolutionary rates to vary autonomously in a context-sensitive manner throughout the optimisation process. A significant limitation to…
The computation of rank ordering plays a fundamental role in cognitive tasks and offers a basic building block for computing arbitrary digital functions. Spiking neural networks have been demonstrated to be capable of identifying the…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
In this paper, our focus is on certain applications for mobile robotic networks, where reconfiguration is driven by factors intrinsic to the network rather than changes in the external environment. In particular, we study a version of the…
This paper addresses the problem of Uniform Circle Formation by n > 1 transparent disc robots (fat robots). The robots execute repetitive cycles of the states look-compute-move in semi-synchronous manner where a set of robots execute the…
Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these…
In combinatorial reconfiguration, the reconfiguration problems on a vertex subset (e.g., an independent set) are well investigated. In these problems, some tokens are placed on a subset of vertices of the graph, and there are three natural…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
Motivated by the inapproximability of reconfiguration problems, we present a new PCP-type characterization of PSPACE, which we call a probabilistically checkable reconfiguration proof (PCRP): Any PSPACE computation can be encoded into an…
Given a reconfigurable system X, such as a robot moving on a grid or a set of particles traversing a graph without colliding, the possible positions of X naturally form a cubical complex S(X). When S(X) is a CAT(0) space, we can explicitly…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
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…
Decoupling the interactions in a spin network governed by a pair-interaction Hamiltonian is a well-studied problem. Combinatorial schemes for decoupling and for manipulating the couplings of Hamiltonians have been developed which use…
Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…