Related papers: Online Trajectory Replanner for Dynamically Graspi…
Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…
Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research…
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Planning trajectories for automated vehicles in urban environments requires methods with high generality, long planning horizons, and fast update rates. Using a path-velocity decomposition, we contribute a novel planning framework, which…
Robotic information gathering (RIG) techniques refer to methods where mobile robots are used to acquire data about the physical environment with a suite of sensors. Informative planning is an important part of RIG where the goal is to find…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…