Related papers: A Solution to Slosh-free Robot Trajectory Optimiza…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed,…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
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…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…
Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…
We present TrueRMA, a data-efficient, model-free method to learn cost-optimized robot trajectories over a wide range of starting points and endpoints. The key idea is to calculate trajectory waypoints in Cartesian space by recursively…
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is…