相关论文: IKBT: solving closed-form Inverse Kinematics with …

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each…

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…

Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…

Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…

We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…

Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

In a robot-centered smart home, the robot observes the home states with its own sensors, and then it can change certain object states according to an operator's commands for remote operations, or imitate the operator's behaviors in the…

Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due to the costly second-order partial derivatives of the…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…

Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…

Forward and inverse kinematics models are fundamental to robot arms, serving as the basis for the robot arm's operational tasks. However, in model learning of robot arms, especially in the presence of redundant degrees of freedom, inverse…