Related papers: Task-Driven Computational Framework for Simultaneo…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
In real-world machine learning deployments, models must be continually updated, composed, and when required, selectively undone. However, existing approaches to model merging and continual learning often suffer from task interference,…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
In the present work, a highly efficient Moving Morphable Component (MMC) based approach for multi-resolution topology optimization is proposed. In this approach, high-resolution optimization results can be obtained with much less number of…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
This paper presents an optimization approach for generating custom manipulator configurations using a proposed unconventional modular library. An end-to-end solution is presented in which the resulting optimal models of the modular…
In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…
Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the…