相关论文: DawnIK: Decentralized Collision-Aware Inverse Kine…

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…

Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equally valid goals, or a range of acceptable goals with a…

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…

With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of…

The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Nevertheless, the operation of a dual-arm manipulator poses a dynamic…

Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…

Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the…

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…

Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for…

Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular…

In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…

In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…