Related papers: An Optimization-Based Inverse Kinematics Solver fo…

We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…

This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance…

This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…

For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…

In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environments in real-time. End-pose planning for valid stance pose and…

Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…

On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper…

In this paper, we present "IVO: Inverse Velocity Obstacles" an ego-centric framework that improves the real time implementation. The proposed method stems from the concept of velocity obstacle and can be applied for both single agent and…

A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…

Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid elements in constrained environments remains…

This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…

A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…

Synthesizing optimal controllers for dynamical systems often involves solving optimization problems with hard real-time constraints. These constraints determine the class of numerical methods that can be applied: computationally expensive…