Related papers: Trajectory Optimization for Self-Wrap-Aware Cable-…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…
Long-horizon routing tasks of deformable linear objects (DLOs), such as cables and ropes, are common in industrial assembly lines and everyday life. These tasks are particularly challenging because they require robots to manipulate DLO with…
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…
While generative models have become effective at producing human-like motions from text, transferring these motions to humanoid robots for physical execution remains challenging. Existing pipelines are often limited by retargeting, where…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…
ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…
Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…
The legacy mobility robustness optimization (MRO) in self-organizing networks aims at improving handover performance by optimizing cell-specific handover parameters. However, such solutions cannot satisfy the needs of next-generation…
Topology optimization is used for the design of high-performance structures but remains fundamentally limited by its iterative nature, requiring repeated finite element analyses that prevent real-time deployment and large-scale design…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…