相关论文: Simultaneous Trajectory Optimization and Contact S…

In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…

Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of…

Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…

Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed…

In practice, many types of manipulation actions (e.g., pick-n-place and push) are needed to accomplish real-world manipulation tasks. Yet, limited research exists that explores the synergistic integration of different manipulation actions…

In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…

Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…

Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on roll-slide contact mostly focus on continuous shapes with…

Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteria…

We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…

Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…

This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended…

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…

This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…

Smooth autonomous dynamical systems modeled by ordinary differential equations (ODEs) cannot robustly and globally stabilize a point in compact, boundaryless manifolds. This obstruction, which is topological in nature, implies that…