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

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully…

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…

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…

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…

Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality…

Achieving generalized in-hand object rotation remains a significant challenge in robotics, largely due to the difficulty of transferring policies from simulation to the real world. The complex, contact-rich dynamics of dexterous…

To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…

This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…

Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…

To control humanoid robots, the reference pose of end effector(s) is planned in task space, then mapped into the reference joints by IK. By viewing that problem as approximate quadratic programming (QP), recent QP solvers can be applied to…

This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

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…

Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…