Related papers: Humanoid Loco-manipulation Planning based on Graph…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this setting stems from the mixed nature of the problem, namely…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…