相关论文: URDF+: An Enhanced URDF for Robots with Kinematic …

Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…

This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…

We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider the local loop constraints emerging from common actuation…

With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…

Collision-free motion planning for redundant robot manipulators in complex environments is yet to be explored. Although recent advancements at the intersection of deep reinforcement learning (DRL) and robotics have highlighted its potential…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…

Neural Signed Distance Fields (SDFs) provide a differentiable environment representation to readily obtain collision checks and well-defined gradients for robot navigation tasks. However, updating neural SDFs as the scene evolves entails…

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…

The success of intelligent robotic missions relies on integrating various research tasks, each demanding distinct representations. Designing task-specific representations for each task is costly and impractical. Unified representations…

The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification techniques are applied only a subset of…

Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work in common environments such as corridors, tunnels, and…

As entertainment robots gain popularity, the demand for natural and expressive motion, particularly in dancing, continues to rise. Traditionally, dancing motions have been manually designed by artists, a process that is both labor-intensive…

Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It requires the robot learning to be sample-efficient, generalizable,…

Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…

Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of…

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…