相关论文: Kinodynamic Motion Planning for Multi-Legged Robot…
For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve times. We propose a multi-stage optimization framework with…
Motion planning is a crucial component of autonomous robot driving. While various trajectory datasets exist, effectively utilizing them for a target domain remains challenging due to differences in agent interactions and environmental…
This paper presents a novel approach for controlling humanoid robots to push heavy objects. The approach combines kinodynamics-based pose optimization and loco-manipulation model predictive control (MPC). The proposed pose optimization…
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, the BiConMP which can generate whole body trajectories online…
Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately track. For high-DOF robots such as manipulators,…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
Intelligent motion planning is one of the core components in automated vehicles, which has received extensive interests. Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization…
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the…
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines data-driven methods on solver heuristics has shown potential to overcome this issue allowing for…
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate frame, the lane change constraints, collision avoidance and…
In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a…
Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundaries, we introduce Co-jump, a cooperative task where two…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…