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This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia, and momentum to reduce the effort. Given a specific goal…
Kinodynamic motion planners allow robots to perform complex manipulation tasks under dynamics constraints or with black-box models. However, they struggle to find high-quality solutions, especially when a steering function is unavailable.…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
Automating physical database design has remained a long-term interest in database research due to substantial performance gains afforded by optimised structures. Despite significant progress, a majority of today's commercial solutions are…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Many robot arms can accomplish one task using many different joint configurations. Often only one of these configurations is used as a goal by the path planner. Ideally the robot's path planner would be able to use the extra configurations…
A Python module for rapid prototyping of constraint-based closed-loop inverse kinematics controllers is presented. The module allows for combining multiple tasks that are resolved with a quadratic, nonlinear, or model predictive…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these…
Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…