相关论文: A Topologist's View of Kinematic Maps and Manipula…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce…
Due to the emergence of symplectic geometry, the geometric treatment of mechanics underwent a great development during the last century. In this scenario the pressence of symmetries in Hamiltonian systems leads naturally to the existence of…
We study the rigidity of body-and-cad frameworks which capture the majority of the geometric constraints used in 3D mechanical engineering CAD software. We present a combinatorial characterization of the generic minimal rigidity of a subset…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…
In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since…
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
We define and develop a homotopy invariant notion for the topological complexity of a map $f:X \to Y$, denoted TC($f$), that interacts with TC($X$) and TC($Y$) in the same way cat($f$) interacts with cat($X$) and cat($Y$). Furthermore,…
In this paper, we introduce complex functional maps, which extend the functional map framework to conformal maps between tangent vector fields on surfaces. A key property of these maps is their orientation awareness. More specifically, we…
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient…
We use a well known problem in discrete and computational geometry (partitions of measures by $k$-fans) as a motivation and as a point of departure to illustrate many aspects, both theoretical and computational, of the problem of…
The Lusternik-Schnirelmann category cat and topological complexity TC are related homotopy invariants. The topological complexity TC has applications to the robot motion planning problem. We calculate the Lusternik-Schnirelmann category and…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
Digital topological methods are often used on computing the topological complexity of digital images. We give new results on the relation between reducibility and digital contractibility in order to determine the topological complexity of a…
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one…
We discuss computability and computational complexity of conformal mappings and their boundary extensions. As applications, we review the state of the art regarding computability and complexity of Julia sets, their invariant measures and…