Related papers: Minimum Jerk Trajectory Generation for Straight an…
The variational problem of the least uncomfortable journey between two locations on a straight line is simplified by a choice of the dependent variable. It is shown that taking the position, instead of the velocity, as the optimal function…
Learning from human video demonstrations offers a scalable alternative to teleoperation or kinesthetic teaching, but poses challenges for robot manipulators due to embodiment differences and joint feasibility constraints. We address this…
In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…
In this study, to perform the robotic stroke motions following the shape of the human back similar to the stroke motions by humans, in contrast to the conventional robotic stroke motion with a linear trajectory, we propose a trajectory…
Trajectory generation for visually impaired scenarios requires smooth and temporally consistent state in structured, low-speed dynamic environments. However, traditional jerk-based heuristic trajectory sampling with independent segment…
Natural and expressive human motion generation is the holy grail of computer animation. It is a challenging task, due to the diversity of possible motion, human perceptual sensitivity to it, and the difficulty of accurately describing it.…
This letter presents a novel approach to extract reliable dense and long-range motion trajectories of articulated human in a video sequence. Compared with existing approaches that emphasize temporal consistency of each tracked point, we…
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…
The paper considers the problem of constructing program control for an object described by a system with a quasidifferentiable right-hand side. The control aim is to bring the system from a given initial position to a given final state in…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization…
In this paper, we address a minimum-time steering problem for a drone modeled as point mass with bounded acceleration, across a set of desired waypoints in the presence of gravity. We first provide a method to solve for the minimum-time…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
We investigate the asymptotic properties of the trajectories generated by a second-order dynamical system of proximal-gradient type stated in connection with the minimization of the sum of a nonsmooth convex and a (possibly nonconvex)…
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communication on where and when physical contact (object transfer)…
We study the mean curvature motion of a droplet flowing by mean curvature on a horizontal hyperplane with a possibly nonconstant prescribed contact angle. Using the minimizing movements method we show the existence of a weak evolution, and…
Text-driven motion generation offers a powerful and intuitive way to create human movements directly from natural language. By removing the need for predefined motion inputs, it provides a flexible and accessible approach to controlling…
This work presents a method for generating position, attitude, and velocity states for an aircraft following a smoothed reference trajectory. The method also generates accelerometer and gyro measurements consistent with the aircraft states.…
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the…
We give a constructive proof for the existence of a unique rational motion of minimal degree in the dual quaternion model of Euclidean displacements with a given rational parametric curve as trajectory. The minimal motion degree equals the…