Related papers: Hybrid Task Constrained Planner for Robot Manipula…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
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…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
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 introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
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…
Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…