Related papers: Movement Primitives in Robotics: A Comprehensive S…
Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured…
Finding an efficient way to adapt robot trajectory is a priority to improve overall performance of robots. One approach for trajectory planning is through transferring human-like skills to robots by Learning from Demonstrations (LfD). The…
Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors…
Motion Manifold Primitives (MMP), a manifold-based approach for encoding basic motion skills, can produce diverse trajectories, enabling the system to adapt to unseen constraints. Nonetheless, we argue that current MMP models lack crucial…
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives -- burrowing and…
Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…
In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…
Dynamic manipulation is a key capability for advancing robot performance, enabling skills such as tossing. While recent learning-based approaches have pushed the field forward, most methods still rely on manually designed action…
This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…
We present a hybrid control framework for solving a motion planning problem among a collection of heterogenous agents. The proposed approach utilizes a finite set of low-level motion primitives, each based on a piecewise affine feedback…
Real-time motion generation -- which is essential for achieving reactive and adaptive behavior -- under kinodynamic constraints for high-dimensional systems is a crucial yet challenging problem. We address this with a two-step approach:…
We present an approach that generates kinodynamically feasible paths for robots using Rapidly-exploring Random Tree (RRT). We leverage motion primitives as a way to capture the dynamics of the robot and use these motion primitives to build…
Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…
We propose a new representation of human body motion which encodes a full motion in a sequence of latent motion primitives. Recently, task generic motion priors have been introduced and propose a coherent representation of human motion…
Often, robots are asked to execute primitive movements, whether as a single action or in a series of actions representing a larger, more complex task. These movements can be learned in many ways, but a common one is from demonstrations…
In this paper, we present the probably first application of the popular \emph{Dynamic Movement Primitives (DMP)} approach to the domain of soccer-playing humanoid robots. DMPs are known for their ability to imitate previously demonstrated…
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…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…