Related papers: Local Reactive Control for Mobile Manipulators wit…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
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…
The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…
Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…
The dynamic Sequential Mobile Manipulation Planning (SMMP) framework is essential for the safe and robust operation of mobile manipulators in dynamic environments. Previous research has primarily focused on either motion-level or task-level…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
Many robotic path planning problems are continuous, stochastic, and high-dimensional. The ability of a mobile manipulator to coordinate its base and manipulator in order to control its whole-body online is particularly challenging when self…
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the future system behavior, which is hardly possible on embedded…