相关论文: Task Hierarchical Control via Null-Space Projectio…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Bipedal robots demonstrate potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use manually designed visual pipelines, which are fragile in…
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
We consider convex optimization problems with prioritized equality constraints, which may be infeasible. In many applications, such as network optimization and image reconstruction, it is often desirable to compute solutions that satisfy…
A method is devised for numerically solving a class of finite-horizon optimal control problems subject to cascade linear discrete-time dynamics. It is assumed that the linear state and input inequality constraints, and the quadratic measure…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
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…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
Proximal gradient methods are popular in sparse optimization as they are straightforward to implement. Nevertheless, they achieve biased solutions, requiring many iterations to converge. This work addresses these issues through a suitable…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
We provide a systematic analysis of levels of integration between discrete high-level reasoning and continuous low-level reasoning to address hybrid planning problems in robotics. We identify four distinct strategies for such an…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…
Path integral (PI) control problems are a restricted class of non-linear control problems that can be solved formally as a Feyman-Kac path integral and can be estimated using Monte Carlo sampling. In this contribution we review path…
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…