Related papers: Safe and Uncertainty-Aware Robotic Motion Planning…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We present our approach to assembly based on integration of machine…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
Slender structures, such as rods, often exhibit large nonlinear geometrical deformations even under moderate external forces (e.g., gravity). This characteristic results in a rich variety of morphological changes, making them appealing for…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…
There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
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…
As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of…