Related papers: Enhancing Dexterity in Confined Spaces: Real-Time …
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
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…
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not affordable for real-time implementations. Traditional planning…
Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints become unreliable or slow-down for kinematically constrained…
Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction…
Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Dexterous manipulation has received considerable attention in recent research. Predominantly, existing studies have concentrated on reinforcement learning methods to address the substantial degrees of freedom in hand movements. Nonetheless,…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…