Related papers: Dynamical Systems based Obstacle Avoidance with Wo…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the loss of the ability to move in certain directions in task…
This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. The proposed framework utilizes discretized…
A discrete-time linear dynamical system (LDS) is given by an update matrix $M \in \mathbb{R}^{d\times d}$, and has the trajectories $\langle s, Ms, M^2s, \ldots \rangle$ for $s \in \mathbb{R}^d$. Reachability-type decision problems of…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…
Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…
We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to the environment state and help trajectory optimization to…
Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
We propose a Dynamical System (DS) approach to learn complex, possibly periodic motion plans from kinesthetic demonstrations using Neural Ordinary Differential Equations (NODE). To ensure reactivity and robustness to disturbances, we…
Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…
This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kinematically singular configurations for three robots with…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control…
Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…