Related papers: Versatile Multi-Contact Planning and Control for L…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…
Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve robot behaviors that take extended periods of time (e.g.,…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…
Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However,…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of environments. Long, sufficiently even distances can be quickly covered by driving while obstacles can be overcome by stepping. Our quadruped robot…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
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…
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…