相关论文: Hierarchical Contact-Rich Trajectory Optimization …

This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…

Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…

In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…

Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences.…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi-…

Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in…

This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictive Control (MPC) formulation, where the goal is to find an…

Accurate and robust trajectory prediction of neighboring agents is critical for autonomous vehicles traversing in complex scenes. Most methods proposed in recent years are deep learning-based due to their strength in encoding complex…

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes 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…

Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…

We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…

In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…

Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical…

In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…