相关论文: Flying Trapeze Act Motion Planning Algorithm for T…
Perching with winged Unmanned Aerial Vehicles has often been solved by means of complex control or intricate appendages. Here, we present a simple yet novel method that relies on passive wing morphing for crash-landing on trees and other…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
The dipteran flight mechanism of the insects is commonly used to design the nonlinear flight robot system. However, the dynamic response of the click mechanism of the nonlinear robot system with multiple stability still unclear. In this…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
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 technical report addresses the problem of optimal surveillance of the route followed by a dynamic parade using a team of aerial robots. The dynamic parade is considered to take place within an urban environment, it is discretized and…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and two regrasp and motion sub-planners. The suction pose…
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…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…