Related papers: Constrained Bimanual Planning with Analytic Invers…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Kinodynamic motion planners allow robots to perform complex manipulation tasks under dynamics constraints or with black-box models. However, they struggle to find high-quality solutions, especially when a steering function is unavailable.…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
Most inverse optimization models impute unspecified parameters of an objective function to make an observed solution optimal for a given optimization problem with a fixed feasible set. We propose two approaches to impute unspecified…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
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 automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…