Related papers: A Planning Framework for Stable Robust Multi-Conta…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural control policies that predict end-effector…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
Industrial manipulators are normally operated in cluttered environments, making safe motion planning important. Furthermore, the presence of model-uncertainties make safe motion planning more difficult. Therefore, in practice the speed is…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book into a crowded shelf by pushing aside neighboring books to…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Voltage stability in modern power systems involves coupled dynamics across multiple time scales. Conventional methods based on time-scale separation or static stability margins may overlook instabilities caused by the coupling of slow and…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simultaneously align multiple distant pegs and holes,…
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…
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academic manipulation communities. PiH insertion is in fact an…