Related papers: Constrained Bimanual Planning with Analytic Invers…

Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…

A flying trapeze act can be a challenging task for a robotics system since some act requires the performer to catch another trapeze or catcher at the end after being airborne. The objective of this paper is to design and validate a motion…

In many bi-manual robotic tasks, like peg-in-a-hole assembly, the success of the task execution depends on the error in achieving the desired relative pose between the peg and the hole in a pre-insertion configuration. Random actuation…

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…

This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…

Modern cyber-physical systems (e.g., robotics systems) are typically composed of physical and software components, the characteristics of which are likely to change over time. Assumptions about parts of the system made at design time may…

Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…

Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…

In this chapter, we are concerned with inverse optimal control problems, i.e., optimization models which are used to identify parameters in optimal control problems from given measurements. Here, we focus on linear-quadratic optimal control…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…

We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…

For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…

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 this first one we present the…

Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a…

Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…

Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…

This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

For industrial product design, it is very important to take into account assembly/disassembly and maintenance operations during the conceptual and prototype design stage. For these operations or other similar operations in a constrained…