Related papers: Staged Contact Optimization: Combining Contact-Imp…
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…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
This paper presents a Segmented Trajectory Optimization (STO) method for autonomous parking, which refines an initial trajectory into a dynamically feasible and collision-free one using an iterative SQP-based approach. STO maintains the…
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen…
The idea of iterative process optimization based on collected output measurements, or "real-time optimization" (RTO), has gained much prominence in recent decades, with many RTO algorithms being proposed, researched, and developed. While…
Trajectories are optimized for a two-dimensional simplified skateboarding system to allow it to perform a fundamental skateboarding trick called an "ollie". A methodology for generating trick trajectories by controlling the position of a…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality…
We consider a smoothed online convex optimization (SOCO) problem with predictions, where the learner has access to a finite lookahead window of time-varying stage costs, but suffers a switching cost for changing its actions at each stage.…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Expressive generative models have advanced robotic manipulation by capturing complex, multi-modal action distributions over temporally extended trajectories. However, fine-tuning these policies via RL remains challenging due to instability…
This study aims to develop a real-time intersection optimization (RIO) control algorithm to efficiently serve traffic of Connected and Automated Vehicles (CAVs) and conventional vehicles (CNVs). This paper extends previous work to consider…
Particle Swarm Optimization (PSO) has emerged as a powerful metaheuristic global optimization approach over the past three decades. Its appeal lies in its ability to tackle complex multidimensional problems that defy conventional…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a…