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Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
This expository article describes applications of topological configuration spaces to the control of robotic systems. In particular, we review recent work by the authors on configuration spaces of graphs. These are lovely spaces: we show…
Graph embeddings, wherein the nodes of the graph are represented by points in a continuous space, are used in a broad range of Graph ML applications. The quality of such embeddings crucially depends on whether the geometry of the space…
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode…
This paper extends the capabilities of the harmonic potential field (HPF) approach to planning. The extension covers the situation where the workspace of a robot cannot be segmented into geometrical subregions where each region has an…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Real-world optimization problems are generally not just black-box problems, but also involve mixed types of inputs in which discrete and continuous variables coexist. Such mixed-space optimization possesses the primary challenge of modeling…
A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the…
We explore the structure of the space of quasisymmetric configurations identifying them by their magnetic axes, described as 3D closed curves. We demonstrate that this topological perspective divides the space of all configurations into…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configuration space. Existing approaches typically exploit such…
We study ordered configuration spaces of compact manifolds with boundary. We show that for a large class of such manifolds, the real homotopy type of the configuration spaces only depends on the real homotopy type of the pair consisting of…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…