相关论文: Collision-Free Kinematics for Redundant Manipulato…

A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…

Continuum manipulators have gained significant attention as a promising alternative to rigid manipulators, offering notable advantages in terms of flexibility and adaptability within intricate workspace. However, the broader application of…

In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…

The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…

Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a…

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…

This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…

As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Collision-free motion planning for redundant robot manipulators in complex environments is yet to be explored. Although recent advancements at the intersection of deep reinforcement learning (DRL) and robotics have highlighted its potential…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…

In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…