Related papers: DawnIK: Decentralized Collision-Aware Inverse Kine…
Several publications are concerned with learning inverse kinematics, however, their evaluation is often limited and none of the proposed methods is of practical relevance for rigid-body kinematics with a known forward model. We argue that…
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to take advantage of these benefits in model predictive control…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like. We present Human-Like Inverse Kinematics (HL-IK), a…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
Recovering whole-body mesh by inferring the abstract pose and shape parameters from visual content can obtain 3D bodies with realistic structures. However, the inferring process is highly non-linear and suffers from image-mesh misalignment,…
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the VIK problem seeks to find robot configurations subject to…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…
This paper develops a Distributed Differentiable Dynamic Game (D3G) framework, which can efficiently solve the forward and inverse problems in multi-robot coordination. We formulate multi-robot coordination as a dynamic game, where the…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
The imminent integration of autonomous vehicles and mobile robots in urban settings presents a critical safety challenge for future intelligent transportation systems. This paper addresses the complex problem of coordinating heterogeneous…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…