Related papers: Constrained Bimanual Planning with Analytic Invers…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…
Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…