Related papers: A Type II Singularity Avoidance Algorithm for Para…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel…
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to…
Motion planning can be cast as a trajectory optimisation problem where a cost is minimised as a function of the trajectory being generated. In complex environments with several obstacles and complicated geometry, this optimisation problem…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
The paper focuses on the stiffness modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones. In these manipulators, there usually exist essential internal…
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-wise numerical inverse kinematics on 7-DoF arms often yields…