Related papers: Real-Time Trajectory Generation and Hybrid Lyapuno…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…