Related papers: Humanoid Loco-manipulation Planning based on Graph…
Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…
The deployment of robots within realistic environments requires the capability to plan and refine the loco-manipulation trajectories on the fly to avoid unexpected interactions with a dynamic environment. This extended abstract provides a…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steering of a pre-trained whole-body control…
Navigating in search and rescue environments is challenging, since a variety of terrains has to be considered. Hybrid driving-stepping locomotion, as provided by our robot Momaro, is a promising approach. Similar to other locomotion…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
The guiding task of a mobile robot requires not only human-aware navigation, but also appropriate yet timely interaction for active instruction. State-of-the-art tour-guide models limit their socially-aware consideration to adapting to…
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…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…
Planning the motion for humanoid robots is a computationally-complex task due to the high dimensionality of the system. Thus, a common approach is to first plan in the low-dimensional space induced by the robot's feet---a task referred to…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
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…